Novel sea surface unmanned intelligent spilled oil detection and recovery system based on GPRS network navigation

Abstract

The invention discloses a novel unmanned intelligent sea surface oil spill detection and recovery system based on GPRS network navigation, and relates to the technical field of offshore oil spill recovery, and the system comprises an accident preprocessing module which is used for simulating oil spill by adopting a particle method, predicting the oil spill position and the oil film thickness, marking the probability of oil spill in a nearby sea area and giving out a possible expansion speed, an alarm is given; the spilled oil recovery detection module is used for monitoring and identifying spilled oil on the water surface so as to monitor whether the spilled oil on the water surface in the area is completely cleaned or not; the spilled oil recovery route design module is used for planning an oil spilling ship route according to the oil spilling possible expansion speed; and the spilled oil recovery ship is used for recovering spilled oil in the region based on the route of the spilled oil ship. The oil spill recovery efficiency is greatly improved, and the emergency capacity of ship oil spill accident treatment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore oil spill recovery, and particularly to a novel unmanned intelligent oil spill detection and recovery system for the sea surface based on GPRS network navigation. Background Art

[0002] In recent years, with the gradual increase in China's investment in marine science and technology, China's marine science and technology cause has entered the best development period in history. With the continuous booming development of the petroleum industry and offshore oil transportation, offshore oil spill accidents will be inevitable. The oil film formed by the oil spill on the sea blocks the dissolution of oxygen in the water, causing the death of fish, shrimps and plankton; the volatilization of benzene in petroleum seriously endangers the health of humans and animals. Offshore oil spills have become a huge hidden danger threatening the marine environment and social development.

[0003] However, at present, the global pretreatment system for offshore oil spill accidents is not perfect, lacking corresponding alarm and information processing means. When encountering sudden offshore oil spill accidents, it cannot respond in a timely and accurate manner. Due to the characteristics of wide distribution, difficult control and fast diffusion of offshore oil spill accidents, there is an urgent need for a more efficient oil spill recovery system. And currently, the technologies and sciences related to oil spill detection and oil spill recovery have been continuously maturing. There are current remote sensing technologies such as optical remote sensing, laser remote sensing, and microwave remote sensing, oil spill detection methods combining threshold method, artificial neural network method, etc. with Synthetic Aperture Radar (SAR) data, as well as a series of oil spill recovery methods and new oil-absorbing materials such as high oil-absorbing resin and polyurethane sponge.

[0004] Offshore oil spill is one of the important factors for the destruction of the marine environment, and its harm involves the entire marine ecological chain. The water body, shoreline, organisms, industries and human health will all be damaged to varying degrees. Major offshore oil spills bring catastrophic harm to the marine environment. And if the offshore oil spill is not effectively recovered and treated, the damage to the marine ecology and the remaining ecological environment impact cannot be completely eliminated within 20 years. At present, the treatment of oil spill accidents at home and abroad is mostly limited to using oil booms to block the accident sea area to prevent the spread of oil pollution, and at the same time, a large amount of chemical substances such as oil coagulants and oil dispersants are put into use for treatment, supplemented by manual collection to control the oil spill. Summary of the Invention

[0005] The embodiment of the present invention provides a novel unmanned intelligent oil spill detection and recovery system for the sea surface based on GPRS network navigation, which greatly improves the oil spill recovery efficiency and the emergency response ability for ship oil spill accident handling.

[0006] The present invention provides a novel unmanned intelligent oil spill detection and recovery system for the sea surface based on GPRS network navigation, including: an accident preprocessing module, an oil spill recovery detection module, an oil spill recovery ship, and an oil spill recovery route design module;

[0007] The accident preprocessing module is used to simulate the oil spill by the particle method, predict the oil spill position and the oil film thickness, mark the probability of oil spill in the nearby sea area and give the possible expansion speed, and give an alarm;

[0008] The oil spill recovery detection module is used to monitor and identify the oil spill on the water surface to determine whether all the oil spills on the water surface in the monitored area have been cleaned up;

[0009] The oil spill recovery route design module is used to plan the route of the oil spill recovery ship according to the possible expansion speed of the oil spill;

[0010] The oil spill recovery ship is used to recover the oil spill in the area based on the oil spill recovery ship route.

[0011] In some examples, the accident preprocessing module includes:

[0012] The oil spill position prediction module is used to consider the influence of factors such as wind, current, and waves, simulate the floating and diffusion behavior of the oil spill on the sea surface by the particle method, predict the oil spill position and the oil film thickness, and then mark the probability of oil spill in the nearby sea area and give the possible expansion speed;

[0013] The accident information interaction module is used to integrate and record the ship information including the ship route, the type of goods loaded on the ship, the relative speed, the real speed, the course, the ship position, the weather condition, the surrounding environment, and various dynamic parameters when an oil spill accident occurs on the ship;

[0014] The alarm module is used to send the oil spill accident information through the automatic alarm or the manual trigger alarm function.

[0015] In some examples, by predict the oil spill position, where (x n , y n ) is the horizontal position of the particle at the beginning of the nth calculation step, (x’ n , y’ n ) is the horizontal position of the oil particle at the end of the step, u and v are the x and y components of the surface current respectively, Δt is the calculation step, and ξ and K H represent the uniformly distributed random number on the target area and the turbulent eddy viscosity coefficient in the horizontal direction respectively.

[0016] In some examples, the oil spill recovery detection module is used to monitor and identify the oil spill on the water surface by the fluorescence spectroscopy method.

[0017] In some instances, the oil spill recovery vessel includes: a hull design module, an oil skimmer, a deformation module, and a navigation support module;

[0018] The hull design module adopts a catamaran hull design;

[0019] The oil skimmer consists of an oil-absorbing belt, wavy blades, a transmission device, and an oil collector. It uses the rotating oil-absorbing belt to adsorb the oil spill on the water surface. After the oil adhered to the oil-absorbing belt is separated from the water surface as the belt rotates, the adsorbed oil spill is collected into the oil collector through the wavy blades;

[0020] The deformation module is used to control the oil collection through a deformable bow;

[0021] The navigation support module is used to realize the utilization of clean energy, tire buffering, and electromagnetic release control.

[0022] In some instances, the catamaran consists of two slender monohulls, which are connected by a deck bridge on the upper part. A power device is installed inside, and a superstructure is installed on the upper part of the deck bridge. A deformable oil skimmer is installed between the two hulls at the bow of the vessel.

[0023] In some instances, the wavy blades form a 45-degree angle with the oil-absorbing belt.

[0024] In some instances, the oil-absorbing belt is made of polyvinyl chloride material. The transmission rotors of the oil skimmer adopt a structure of one short and one long. The length of the lower transmission rotor is longer, and the length of the upper transmission rotor is shorter. So that during the process of rotating and collecting oil by the transmission device of the oil skimmer, the adsorption belt at the lower rotor is extended. When the transmission device rotates upward near the upper rotor, the upper rotor exerts a squeezing effect on the oil-absorbing belt, separating the seawater adsorbed by the oil-absorbing belt from the oil, and achieving the separation of the oil and water from the adsorption belt through the wavy blades on the back of the oil skimmer.

[0025] In some instances, the deformable bow consists of a deformable bow, a detachable two-degree-of-freedom robotic arm, and an airbag device. A deformable oil skimmer is installed at the bow of the oil spill recovery vessel. The detachable two-degree-of-freedom robotic arm controls the deformable oil skimmer to complete the operation of releasing and retracting the oil skimmer during the oil spill recovery operation;

[0026] The airbag device can be used in cooperation with the oil containment boom. When the oil containment boom initially surrounds and controls the oil spill area, the airbag device supports and assists in fixing the oil containment boom;

[0027] An oil-absorbing component is sleeved on the airbag device. Through the support and buoyancy provided by the airbag device, the oil-absorbing component can float on the oil surface and come into full contact with the oil spill, and it is convenient for subsequent operations on the oil-absorbing component;

[0028] The airbag device can also play a buffering and protective role.

[0029] In some instances, the navigation support module includes a number of solar panels mounted on the ship, a tire buffer device, and an electromagnetic release control device;

[0030] The tire buffer device is used to reduce the damage to the hull caused by obstacles when the airbag device and the oil skimmer are in the stowed state;

[0031] The electromagnetic release control device is located on the hanger of the mother ship and the vehicle. After being powered on, it generates a magnetic force to lift the vehicle, and releases the vehicle to the sea surface through the cable and the self-weight of the vehicle.

[0032] Generally speaking, compared with the prior art, the above technical solutions conceived by the present invention can achieve the following beneficial effects:

[0033] (1) Through the accident preprocessing module of the present invention, it is possible to predict and prevent possible accidents before the accident occurs. After the accident occurs, a plan that best meets economic and oil recovery efficiency can be designed within a short time, reducing the preparation time for handling accidents. This can reduce the waste of human and material resources in the initial stage of the accident, and at the same time control the oil spill accident within a short time, greatly reducing the amount of oil lost. At the same time, accurately receive various specific data of the oil spill accident, which is convenient for the operator to have an overall understanding of the oil spill accident and can accurately control the oil spill accident.

[0034] (2) The new oil spill recovery ship designed by the present invention adopts a catamaran structure, which can improve the ship's navigation speed and stability. A deformable oil skimmer is installed at the bow of the ship, and two oil skimmers are installed on each side of the hull through robotic arms. Among them, the robotic arms of the two oil skimmers near the stern are longer, which can increase the oil spill recovery area and improve the oil recovery efficiency. In addition, the vehicle is also equipped with a tire buffer device, which can effectively reduce the damage to the hull caused by obstacles such as floating ship debris at the oil spill accident site and ensure navigation safety; the solar panels carried by the vehicle can enhance the ship's utilization of clean energy and increase the vehicle's endurance. At the same time, the oil skimmers on this ship can efficiently adsorb and convey the oil-water layer on the water surface. The adsorption belt of the transmission rotor of the oil skimmer has a large contact area with the water surface, adsorbs a lot of oil and water, and has a high oil spill recovery efficiency. An oil suction pump is installed inside the vehicle, which can suck the oil-water mixture inside the oil collection box of the oil skimmer into the dirty oil storage compartment through a conduit. The oil-water separator in the dirty oil storage compartment can effectively separate the dirty oil from the water, increasing the dirty oil storage space and improving the oil spill recovery efficiency. Description of the Drawings

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0036] Figure 1 is a schematic diagram of the system structure provided by the embodiments of the present invention;

[0037] Figure 2 is a schematic diagram of the principle of the oil collector provided by the embodiments of the present invention;

[0038] Figure 3 is the drawing of the oil collector provided by the embodiments of the present invention;

[0039] Figure 4 is a 3D diagram of the oil collector provided by the embodiments of the present invention;

[0040] Figure 5 is a schematic diagram of the accident pre - treatment process provided by the embodiments of the present invention;

[0041] Figure 6 is a schematic diagram of information processing provided by the embodiments of the present invention;

[0042] Figure 7 is an optimized design diagram of the oil collector provided by the embodiments of the present invention. Detailed implementation manners

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0044] In the following description, specific embodiments of the present invention will be described with reference to steps and symbols executed by one or more computers, unless otherwise specified. Therefore, these steps and operations will be mentioned several times as being executed by a computer. As used herein, computer execution includes operations of a computer processing unit that represents electronic signals in a structured form of data. This operation transforms the data or maintains it in a position in the computer's memory system, which can be reconfigured or otherwise changed in a manner well - known to those skilled in the art. The data structure maintained by the data is the physical location of the memory, which has specific characteristics defined by the data format. However, the principles of the present invention are described in the above text, which does not represent a limitation. Those skilled in the art will understand that the following various steps and operations can also be implemented in hardware.

[0045] As used herein, the terms "module" or "unit" may be regarded as software objects executed on the computing system. Different components, modules, engines, and services herein may be regarded as implementation objects on the computing system. The devices and methods herein are preferably implemented in software, but may also be implemented in hardware, all within the scope of protection of the present invention.

[0046] Those skilled in the art of the present technology can understand that, unless specifically stated otherwise, the singular forms "a", "an", and "the" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the specification of the present invention means the presence of features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or their groups. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any unit and all combinations of one or more related listed items.

[0047] Currently, 1. Regarding the detection of marine oil spills, the current international detection of marine oil spills is not mature. Most rely on artificial satellite detection and accidental oil spills detected through equipment failures. The treatment plan is to rely on manual recovery, which requires a long response time, a long treatment cycle, consumes a huge amount of human and material resources, is easily affected by natural disasters, and has weak environmental resistance. At the same time, the specific location of the oil spill is not accurately judged, increasing the difficulty of dealing with marine oil spills.

[0048] 2. Regarding the technology of marine oil spill recovery, currently in China, when dealing with marine oil spill accidents, traditional means such as oil booms, oil sorbents, and oil dispersants are combined, with low efficiency and a lack of automation. Oil booms have the disadvantages of poor wave riding performance and low oil containment efficiency. Oil sorbents cannot be used simultaneously with oil spill dispersants and are easily affected by sea conditions and meteorology. Oil dispersants are chemical products and may cause secondary pollution if used improperly. There is currently no newly designed and highly efficient oil spill recovery ship independently designed in China. In terms of the materials for adsorbing oil spills, the oilophilic adsorption belt is made of polyvinyl chloride material to achieve the purpose of efficiently adsorbing and transporting the oil-water layer on the water surface. In terms of the adsorption belt, due to the lack of relevant technology in China, the recovery of oil spills mostly relies on manual judgment, resulting in low efficiency of recovering oil spills and wasting resources. The present invention obtains the relationship between the angle of the oilophilic adsorption belt and the water surface and the rotation rate of the oilophilic adsorption belt through modeling, and combines factors such as ship speed, sea conditions, and oil spill thickness to adjust the angle and rotation speed of the adsorption belt and the water surface, so as to maximize the oil spill recovery efficiency and greatly improve the oil spill recovery efficiency.

[0049] In the first embodiment of the present invention, as Figure 1 shown, a new type of unmanned intelligent oil spill detection and recovery system for the sea surface based on the GPRS network navigation is provided, including: an accident preprocessing module, an oil spill recovery detection module, an oil spill recovery ship, and an oil spill recovery route design module;

[0050] The accident preprocessing module is used to simulate the oil spill by the particle method, predict the oil spill position and the oil film thickness, mark the probability of oil spill in the nearby sea area and give the possible spreading speed, and give an alarm;

[0051] The oil spill recovery detection module is used to monitor and identify the oil spill on the water surface to monitor whether all the oil spills on the water surface in the monitoring area have been cleaned up;

[0052] The oil spill recovery route design module is used to plan the oil spill recovery ship route according to the possible spreading speed of the oil spill;

[0053] The oil spill recovery ship is used to recover the oil spill in the area based on the oil spill recovery ship route.

[0054] Among them, in the initial stage after the oil leakage enters the water area, under the control of gravity, inertia, viscosity and surface tension, it will spread on the water surface and form oil films with different thicknesses. According to the samples recorded at the Deepwater Horizon oil spill site, from flakes less than 1 μm to thick oil films up to millimeters thick. In addition, more than 90% of the oil spill may be distributed in an area less than 10% of the oil spill area. Oil films with a thickness of about 0.1 to 10 μm are not substantially helpful for conventional oil spill treatment work. Generally, it can be measured between 0.05 and 10 mm, and the approximate position of the oil spill can be judged.

[0055] Ultra-thin oil film (<0.1 μm): showing rainbow-colored interference fringes, spreading fast but with a wide range of toxic effects.

[0056] Common oil film (0.1 μm–1 mm): It is necessary to combine on-site sampling (such as adsorption sheets) and remote sensing technology for measurement. Chemical dispersants or biodegradation treatment may be required, but the ecological risks need to be weighed

[0057] Thick oil film (>1 mm): A black or dark brown oil layer visible to the naked eye, which needs to be mechanically removed first.

[0058] In some instances, the accident preprocessing module includes:

[0059] The oil spill position prediction module is used to consider the influence of wind, current and wave factors, simulate the floating and spreading behavior of the oil spill on the sea surface by the particle method, predict the oil spill position and the oil film thickness, and then mark the probability of oil spill in the nearby sea area and give the possible spreading speed;

[0060] An accident information interaction module, which is used to integrate and record ship information including ship route, type of goods loaded on the ship, relative speed, true speed, heading, ship position, weather conditions, surrounding environment, and various dynamic parameters when an oil spill accident occurs on the ship;

[0061] An alarm module, which is used to send oil spill accident information through automatic alarm or manual trigger of the alarm function.

[0062] In some instances, by Predict the oil spill location, where (x n , y n ) is the horizontal position of the particle at the beginning of the nth calculation step, (x' n , y' n ) is the horizontal position of the oil particle at the end of the step, u and v are the x and y components of the surface flow velocity respectively, Δt is the calculation step, and ξ and K H Represent the uniformly distributed random number on the target area and the turbulent eddy viscosity coefficient in the horizontal direction respectively.

[0063] In some instances, an oil spill recovery detection module, which is used to monitor and identify oil spills on the water surface by fluorescence spectroscopy.

[0064] In some instances, an oil spill recovery ship includes: a hull design module, an oil collector, a deformation module, and a navigation guarantee module;

[0065] The hull design module adopts the design of a catamaran hull;

[0066] The oil collector is composed of an oil-absorbing belt, a wavy scraper, a transmission device, and an oil collector. The rotating oil-absorbing belt is used to adsorb the oil spill on the water surface. After the oil spill adhered to it is separated from the water surface as the oil-absorbing belt rotates, the adsorbed oil spill is collected into the oil collector by the wavy scraper;

[0067] The deformation module is used to control the oil collection through a deformable bow;

[0068] The navigation guarantee module is used to realize the utilization of clean energy, tire buffering, and electromagnetic release control.

[0069] In some instances, the catamaran is composed of two slender monohulls, which are connected by a deck bridge on the upper part, with a power device installed inside. An upper building is installed on the upper part of the deck bridge, and a deformable oil collector is installed between the two hulls at the bow of the vehicle.

[0070] In some instances, the wavy scraper forms a 45-degree angle with the oil-absorbing belt.

[0071] In some instances, the oil - absorbing belt is made of polyvinyl chloride material. The conveying rotors of the oil collector adopt a structure with one short and one long rotor. The lower conveying rotor is longer, and the upper conveying rotor is shorter. When the transmission device of the oil collector rotates to collect oil, the oil - absorbing belt at the lower rotor is extended. When the transmission device rotates upward near the upper rotor, the upper rotor exerts a squeezing effect on the oil - absorbing belt, separating the seawater adsorbed by the oil - absorbing belt from the oil. The wavy scraper on the back of the oil collector is used to separate the oil - water mixture from the adsorption belt.

[0072] In some instances, the deformable bow is composed of a deformable bow, a detachable two - degree - of - freedom robotic arm, and an airbag device. A deformable oil collector is installed at the bow of the oil - spill recovery ship. The detachable two - degree - of - freedom robotic arm controls the deformable oil collector to complete the operations of releasing and retracting the oil collector during the oil - spill recovery operation.

[0073] Among them, the airbag device can play the following roles:

[0074] Auxiliary oil - spill containment: It can be used in conjunction with oil - containment booms, etc. When the oil - containment boom initially contains the oil - spill area, the airbag device can support and assist in fixing the oil - containment boom, enhancing the stability of the oil - containment boom and preventing the oil - spill from leaking and spreading from the weak parts or edges of the oil - containment boom.

[0075] Cooperating with the oil - absorbing component: An oil - absorbing component is sleeved on the airbag. The airbag provides support and buoyancy, enabling the oil - absorbing component to better float on the oil surface, fully contact with the oil - spill, efficiently adsorb the oil pollution, and facilitating subsequent operations on the oil - absorbing component.

[0076] Emergency protection function: When the recovery ship encounters bad sea conditions or emergencies, the airbag can play a certain buffering and protection role. When the recovery ship collides with other objects or is impacted by waves, the airbag can absorb part of the impact force, reduce damage to the hull and equipment of the recovery ship, and ensure the safety of the crew.

[0077] In some instances, the navigation guarantee module includes a number of solar panels, tire buffer devices, and electromagnetic release control devices mounted on the ship;

[0078] The tire buffer device is used to reduce the damage to the hull caused by obstacles when the airbag device and the oil collector are in the retracted state;

[0079] The electromagnetic release control device is located on the hanger of the mother ship and the vehicle. After being powered on, it generates a magnetic force to lift the vehicle, and the vehicle is released to the sea level through the cable and the self - weight of the vehicle.

[0080] In the embodiments of the present invention, the scheduling of the oil spill recovery force and the design of the recovery route mainly aim to improve the oil spill recovery efficiency. During the entire process of the start and end of oil collection, the oil spill recovery ship will simultaneously monitor and identify the oil spills on the water surface to ensure that all the oil spills on the water surface in the area are completely cleaned up. The oil spill recovery detection module reduces the requirements for the crew's operation ability and experience reserve during manual oil spill collection. In the context of the development of larger ships and the increasing annual volume of ocean transportation, the emergency response ability for ship oil spill accidents is improved.

[0081] In the embodiments of the present invention, for the oil spill recovery route, an optimization model for the distribution of the marine oil spill recovery system is constructed with the goal of minimizing the total expected time for most of the oil spill recovery in each sub-region. Considering factors such as the oil spill recovery capacity, maximum speed, and initial distance from each sub-region of the oil spill recovery ship, an algorithm is designed and the effectiveness of the model is verified by introducing numerical examples. Based on this model, considering the probabilities of different sub-regions, appropriate ships are dispatched, and a specific number of search ships are designated to go to the appropriate sub-regions, which can help complete the oil spill recovery task in the shortest time. By calculating the floating of the oil spill, the area with the highest oil spill concentration is found, and the route is planned through the ant colony algorithm. Finally, the most suitable oil spill recovery route is determined according to the magnitude of the expected value. An autonomous navigation module is installed in the vehicle, which consists of a control module and a sensing module. During the navigation process, the control personnel can use the control module to issue commands, which are transmitted to the lower computer system carried by the vehicle through the GPRS network to control the navigation parameters of the vehicle and achieve automated and intelligent navigation and oil spill recovery work of the ship. Various types of information collected are transmitted to the upper computer system through the GPRS module and displayed on the interface for the staff to refer to for decision-making.

[0082] In the second embodiment of the present invention, a new type of unmanned intelligent oil spill detection and recovery system for the sea surface based on GPRS network navigation is provided, including:

[0083] Accident preprocessing module

[0084] Such as Figure 5As shown in the figure, for the accident pre - treatment, the embodiments of the present invention consider the influence of factors such as wind, current, and waves, and use the "particle method" to simulate the oil spill, accurately predicting the position of the oil spill and the thickness of its oil film; using the oil spill floating and diffusion model and data in the oil spill prediction and early warning system to accurately predict the floating position of the oil spill. Combining the oil spill alarm system and the Beidou navigation and positioning system installed on the ship where the oil spill accident occurs, the oil spill alarm system mainly plays three roles: ship and oil spill positioning, data transmission, and alarm. During the entire ship - sailing process, the oil spill alarm system based on Beidou satellite navigation will record all information of the ship, including the ship's route, the type of cargo loaded on the ship, relative speed, true speed, heading, ship position, weather conditions, surrounding environment, and various dynamic parameters, etc. When an oil spill accident occurs on the ship, the oil spill alarm system will automatically integrate the recorded information and make a response. Through the built - in oil spill drift algorithm, within a very short time, the central processor in the oil spill alarm system will predict the position and expansion state of the oil spill, mark the probability of an oil spill in the nearby sea area and give the possible expansion speed. Through the signal transmitting and receiving devices inside the system, the encoded information is sent to the Beidou communication module, and then all the information is obtained by decoding at the instruction center. The oil spill accident can be informed to the relevant departments in the first time, and the instruction center can seek rescue instructions from the relevant departments. Through the accident pre - treatment of the oil spill alarm system, the oil spill recovery can be carried out more efficiently, reducing the recovery scope to avoid resource waste. Through the design of the accident pre - treatment of the oil spill, the position of the oil spill can be predicted in time, greatly improving the response ability and treatment ability of the oil spill accident, which is conducive to the development of the oil spill recovery work.

[0085] In order to accurately predict the floating position of the oil spill, the "particle method" is used to simulate the oil spill. This model considers the influence of factors such as wind, current, and waves, and accurately predicts the position of the oil spill and the thickness of its oil film. The information is sent out in a timely and accurate manner through the ship - borne oil spill accident information interaction system based on Beidou satellite navigation.

[0086] Under the influence of various factors such as wind, current, and waves, after the oil spill enters the sea surface, it will float and diffuse. Obtaining the dynamic information of the sea - surface oil film plays a key role in predicting the position of the oil spill. Using the oil spill floating and diffusion model and data model in An Wei's oil spill prediction and early warning system, which consider the influence of factors such as wind, current, and waves, and applying the "particle method" to simulate the floating and diffusion behavior of the oil spill on the sea surface. Oil spill drift algorithm: Assume that (xn, yn) is the horizontal position of the particle at the beginning of the nth calculation step, then the horizontal position of the oil particle at the end of this calculation step can be expressed as: where u and v are the x and y components of the surface current (including wind - driven current), which are calculated by the hydrodynamic model; Δt is the calculation step; ξ, K H respectively represent the uniformly distributed random number in the [- 1, 1] region and the turbulent eddy viscosity coefficient in the horizontal direction.

[0087] When encountering an oil spill accident at sea, the power supply equipment on board is forced to stop supplying power, and the built-in battery can be switched to power the information sending terminal equipment, and trigger the information sending terminal to send special instructions to alarm. Figure 6 As shown in the figure, the specific working process of the ship information sending terminal is as follows: when the alarm signal is triggered, the single-chip microcomputer first controls the reading of the position information in the Beidou positioning module, and performs analysis and comprehensive processing; then the ship position information, status information, oil spill floating information, etc. are encoded and packaged according to the Beidou user communication protocol, and the packaged alarm information is transmitted to the Beidou communication module through the serial port; finally, it is sent to the shore-based emergency response center in the form of a Beidou short message, and the relevant departments receive the oil spill accident information and then decode it according to the coding protocol to obtain all the information about the ship oil spill accident.

[0088] Oil spill recovery detection module

[0089] Fluorescence spectroscopy uses ultraviolet light as the excitation light source. The oil spill on the sea absorbs ultraviolet light energy, and the molecular structure of the fluorescent substance changes. After absorbing energy, the energy level jumps to the excited state, cools in a short time, and the energy level drops to the ground state, generating heat and fluorescence. The fluorescence detector collects the fluorescence signal and sends it to the back-end processing module. This method is not affected by ambient light and weather. This oil spill detection method is different from the previous four methods. This method uses active light source excitation and can work all day in most climate environments; the receiving end uses a photomultiplier tube with high sensitivity, which can detect very thin oil spills and send out alarm signals; under the irradiation of ultraviolet light of the same wavelength, due to the different internal structures of mineral oil, seaweed and sea debris, the absorption and release of heat and the wavelength of fluorescence generation are different, so the type of oil spill can be distinguished; the fluorescence signal is processed by the back-end, and the data signal and the on-site visualization scene can be sent to the terminal, so that the staff can understand the sea surface situation at any time, and can rush to the scene as soon as an oil spill accident occurs to handle and recover the oil spill.

[0090] Feasibility analysis of oil spill detection by fluorescence spectroscopy: There are internal and external factors that affect fluorescence intensity. Internal factors play a decisive role. Only fluorescent substances can produce fluorescence under the excitation of light sources. The different internal molecular structures of fluorescent substances lead to different fluorescence effects under the same excitation light source. External factors include the solvent environment in which the fluorescent substances are located and the temperature around the fluorescent substances. Different solvents have different effects on the internal molecules of fluorescent substances. Strong acid or strong base reagents can easily separate the surrounding electrons of fluorescent substances from the nucleus, and the molecular activity is relatively large, resulting in better fluorescence effects. In addition, the fluorescence intensity is affected by temperature. At low temperatures, the activity of fluorescent substances is relatively small. As the temperature rises, the electronic activity becomes intense, and the fluorescence effect will also change.

[0091] The condition for a fluorescent substance to emit fluorescence is that it is irradiated by ultraviolet light or visible light with a wavelength shorter than that of the fluorescence. The common feature of fluorescent substances is that they have strong absorption groups with conjugated double bonds inside the molecules. The larger the conjugated system inside the group, the stronger the delocalization of π electrons, and the more easily it is excited by the light source to produce fluorescence with a longer wavelength (red shift phenomenon). Mineral oil refers to the product obtained by the preliminary processing of crude oil. The main elemental composition of mineral oil is carbon and hydrogen, and it can be divided into aliphatic hydrocarbons, benzene, polycyclic aromatic hydrocarbons, and mixed hydrocarbons according to the composition method of the two elements and different covalent bonds. The main component of mineral oil is hydrocarbon compounds, which have a large number of conjugated double bonds and unsaturated π bonds. Most mineral oils are rich in fluorescent substances such as aromatic rings, while water molecules do not have fluorescence characteristics, and the fluorescence characteristics of different mineral oils are also different. Therefore, this characteristic can be used to detect oil spills on the water surface.

[0092] Oil spill recovery ship

[0093] A new type of oil spill recovery ship is designed based on the traditional offshore oil spill recovery ship. It includes four modules: hull design module, oil skimmer module, deformation module, and navigation guarantee module.

[0094] (1) Hull design module

[0095] Among them, mainly to improve the speed of the oil spill recovery ship, increase the stability of the hull, and improve the oil spill recovery efficiency, the vehicle adopts a catamaran hull design. The catamaran is composed of two slender monohulls, which are connected by a deck bridge on the upper part, and power devices and other equipment are installed inside. An upper building is installed on the upper part of the deck bridge. A variable oil skimmer is installed between the two hulls at the bow of the vehicle, which can increase the oil spill recovery area and improve the oil collection efficiency.

[0096] (2) Oil skimmer

[0097] By combining the movement mode and movement speed of the water vehicle, and taking the conveyor belt as the prototype, it is optimized and transformed to design a high-efficiency oil skimmer. As shown in Figure 2 、 Figure 3 and Figure 4 , the oil skimmer mainly consists of an oil-absorbing belt, a wavy scraper, a transmission device, and an oil collector. Its principle is to use the rotating oil-absorbing belt to adsorb the oil spill on the water surface. As the oil-absorbing belt rotates, the oil spill adhered to it is separated from the water surface. Then, the adsorbed oil spill is collected into the oil collector through the wavy scraper. The scraper forms a 45-degree angle with the oil-absorbing belt, which can make the oil-water mixture adsorbed on the belt flow into the oil collection box more easily and make the cleaning of the scraper more convenient. The oil-absorbing belt of the oil skimmer is made of polyvinyl chloride material, which has the advantages of high oil affinity, high hydrophobicity, high wear resistance, corrosion resistance, heat resistance, etc. As shown in Figure 7As shown in the figure, the transfer rotor of the oil collector adopts a structure with one short and one long rotor. The lower transfer rotor is longer, and the upper transfer rotor is shorter. During the process of collecting oil by rotating the conveyor belt of the oil collector, the adsorption belt at the lower rotor is extended, with a large contact area with the water surface and more adsorbed oil and water. When the conveyor belt rotates upward near the upper rotor, due to the narrower length of the upper rotor, it will exert a squeezing effect on the adsorption belt, separating the seawater adsorbed by the adsorption belt from the oil. The separation of oil and water from the adsorption belt is achieved through the scraping blades on the back of the oil collector. The oil collection box is connected to the dirty oil storage compartment inside the oil spill recovery ship through a conduit. The oil suction pump can suck the oil-water mixture inside the oil collection box into the dirty oil storage compartment. The dirty oil storage compartment is equipped with an oil-water separator, which can effectively separate the dirty oil from the water, discharge the treated sewage that meets the requirements of the MARPOL 73 / 78 Convention outside the ship, increase the dirty oil storage space, and improve the oil spill recovery efficiency. The relationship between the angle formed by the oil-absorbing adsorption belt and the water surface, the rotation speed, and the ship speed is realized through mathematical modeling. The conveyor belt is arranged parallel to the bottom wall surface, and the oil layer makes a steady laminar flow in the space between the inclined conveyor belt and the bottom wall surface. Therefore, the flow of the oil layer can be regarded as a one-dimensional laminar flow along the moving direction of the conveyor belt. The angle between the oil-absorbing adsorption belt of the oil collector and the water surface can be adjusted by the steering gear, thereby adjusting the attitude of the adsorption belt of the oil collector to keep the best contact with the water surface. A speed automatic feedback adjustment device is installed on the adsorption belt of the oil collector, which can reasonably adjust the rotation speed of the oil collector according to the change of the ship speed, the change of the angle between the conveyor belt and the water surface, the sea surface conditions at the oil spill site, and the thickness of the oil spill to ensure the highest oil spill recovery efficiency.

[0098] (3) Deformation module

[0099] The deformable bow consists of a deformable bow, a detachable two-degree-of-freedom robotic arm, and an airbag device. Deformable bow: A deformable oil collector is installed at the bow of the oil spill recovery ship. During normal navigation, the oil collector is in a retracted state, which has no impact on the ship's navigation. When the ship conducts an oil spill recovery operation, the oil collector is in a released state, which can recover the dirty oil at the bottom of the double hull of the vehicle and use the oil suction pump inside the hull to suck the dirty oil flowing into the oil collection box through the conduit into the dirty oil storage compartment. Control of the robotic arm: In this patent, a two-degree-of-freedom detachable robotic arm is used to control the oil collector connected to the vehicle to complete the operation of releasing and retracting the oil collector during the oil spill recovery operation. In terms of offshore cargo salvage, since the vehicle and the oil collector are connected by a robotic arm, it is easy to assemble and disassemble, and it can be replaced with other salvage equipment for offshore cargo salvage operations. If the oil collector module and the robotic arm connected to the ship are disassembled, at the oil spill or other marine accident site, the vehicle can achieve unmanned autonomous navigation through remote control, undertake tasks such as situation reconnaissance, information collection, and personnel search and rescue, increasing the flexibility and rapidity of emergency handling at the accident site.

[0100] (4) Navigation guarantee module

[0101] The navigation support module mainly includes equipment such as the utilization of clean energy, a tire buffer device, and an electromagnetic release control device. This vehicle is an unmanned multi-functional oil spill recovery ship, and its main power is electricity. To increase its endurance and the utilization of clean energy, several solar panels can be installed on the ship to use solar energy as one of the power sources. Since solar power generation is greatly affected by changes in sunlight, it is not possible to rely entirely on solar energy to provide power. Therefore, solar energy can be used as an auxiliary energy source for this vehicle to ensure navigation ability and endurance. At the same time, a tire buffer device is also provided: when the airbag and the oil skimmer are in the retracted state, the tire buffer device can effectively reduce the damage to the hull caused by obstacles such as floating ship wreckage at the oil spill accident site and ensure navigation safety. Electromagnetic release control device: The vehicle is released from both sides of the mother ship through an electromagnetic control device. Electromagnets are installed on both the suspension of the mother ship and the vehicle. After being energized, a strong magnetic force can be generated to lift the vehicle, and it is released to the sea level through the cable and the weight of the vehicle. Then the current is disconnected and the magnetic force disappears to complete the release process.

[0102] Oil spill recovery route design module

[0103] In the embodiments of the present invention, the studied ship has an autonomous navigation function. When planning the route of the oil spill recovery ship, it is necessary to consider the route distance, the complexity of operation, and the calculation of oil spill drift while ensuring navigation safety. The higher the oil spill concentration around the oil spill recovery ship, the higher the efficiency of the oil spill recovery ship in recovering the oil spill. Therefore, when planning the route of the oil spill recovery ship, it is necessary to first calculate the degree of oil spill drift. At the same time, combined with the ant colony algorithm model, the working routes during navigation and oil spill recovery are calculated and planned.

[0104] According to the selection of different ant foraging paths in the simulated ant colony, when an ant opens up a new path, it will emit a certain special substance on this path, which becomes pheromone, and the amount of pheromone is inversely proportional to the length of the path. In this way, subsequent ants can search for the shortest path through the pheromone concentration during the search for foraging paths. When using the ant colony algorithm in the route planning of an offshore oil spill recovery ship, the following settings need to be made: The pheromone emitted by a single ant during the search for foraging paths is affected by the environment. Similarly, the search for the shortest path of the oil spill recovery ship is also affected by obstacles, offshore terrain, and climate environment, and route adjustments must be made for oil spill drift. The path search of a single ant is random, while the ant colony forms an adaptive process through self-feedback of pheromone. During the intelligent search process of the oil spill recovery ship, the adaptive and self-learning mechanisms can be used for selection.

[0105] The above has introduced in detail a new type of unmanned intelligent oil spill detection and recovery system on the sea surface based on GPRS network navigation. In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A new type of unmanned intelligent oil spill detection and recovery system based on GPRS network navigation, characterized in that: include: Accident pre-processing module, oil spill recovery detection module, oil spill recovery vessel and oil spill recovery route design module; The accident pre-processing module is used to simulate the oil spill using the particle method, predict the oil spill location and oil film thickness, mark the probability of oil spill in the nearby sea area and give the possible expansion speed, and issue an alarm; The oil spill recovery detection module is used to monitor and identify oil spills on the water surface to monitor whether all oil spills on the water surface in the area have been cleaned up; The oil spill recovery route design module is used to plan the oil spill ship route according to the possible expansion speed of the oil spill; The oil spill recovery ship is used to recover oil spills in a region based on the oil spill ship route.

2. The system according to claim 1, characterized in that The accident preprocessing module comprises: The oil spill location prediction module is used to consider the influence of wind, current and wave factors, use the particle method to simulate the floating and diffusion behavior of oil spills on the sea surface, predict the oil spill location and oil film thickness, and then mark the probability of oil spills in nearby sea areas and give the possible expansion speed; The accident information interaction module is used to integrate and record ship information including ship route, ship cargo type, relative speed, true speed, heading, ship position, weather conditions, surrounding environment and various dynamic parameters when an oil spill occurs on a ship; The alarm module is used to send oil spill accident information through automatic alarm or manual triggering alarm function.

3. The system according to claim 2, characterized in that Depend on Predict the oil spill location, where (x n ,y n ) is the horizontal position of the particle at the beginning of the nth calculation step, (x' n ,y' n ) is the horizontal position of the oil particle at the end of the step, u and v are the x and y components of the surface velocity, Δt is the calculation step, ξ and K H They represent the uniformly distributed random numbers on the target area and the turbulent eddy viscosity coefficient in the horizontal direction respectively.

4. The system according to claim 3, characterized in that The oil spill recovery detection module is used to monitor and identify oil spills on the water surface using fluorescence spectroscopy.

5. The system according to any one of claims 1 to 4, characterized in that: The oil spill recovery ship comprises: a hull design module, an oil receiver, a deformation module, and a navigation guarantee module; The hull design module adopts a catamaran ship design; The oil collector is composed of an oleophilic adsorption belt, a wavy scraper, a transmission device and an oil collector. The rotating oleophilic adsorption belt is used to absorb the oil spilled on the water surface. As the oleophilic adsorption belt rotates, the oil spilled adhering to the belt is separated from the water surface, and then the absorbed oil spilled is collected into the oil collector by the wavy scraper. The deformation module is used to control oil recovery through a deformable bow; The navigation support module is used to realize the utilization of clean energy, tire cushioning and electromagnetic release control.

6. The system according to claim 5, characterized in that The catamaran is composed of two slender monohulls, which are connected at the upper part by a deck bridge, and are equipped with a power device. A superstructure is installed on the upper part of the deck bridge, and a variable oil receiver is installed between the two hulls at the bow of the craft.

7. The system according to claim 6, characterized in that The wavy scraper is at an angle of 45 degrees to the lipophilic adsorption belt.

8. The system according to claim 7, characterized in that The oleophilic adsorption belt is made of polyvinyl chloride material. The transmission rotor of the oil collector adopts a short and long structure, in which the lower transmission rotor is longer and the upper transmission rotor is shorter, so that when the transmission device of the oil collector rotates to collect oil, the adsorption belt at the lower rotor is extended. When the transmission device rotates upward to the vicinity of the upper rotor, the upper rotor squeezes the oleophilic adsorption belt to separate the seawater adsorbed by the oleophilic adsorption belt from the oil, and the purpose of separating the oil and water from the adsorption belt is achieved through the wavy scraper on the back of the oil collector.

9. The system according to claim 8, characterized in that The deformable bow is composed of a deformable bow, a detachable two-degree-of-freedom mechanical arm and an airbag device. The bow of the oil spill recovery ship is equipped with a deformable oil collector. The detachable two-degree-of-freedom mechanical arm controls the deformable oil collector to complete the operation of releasing and retracting the oil collector during the oil spill recovery operation. The airbag device can be used in conjunction with the oil boom. After the oil boom initially encloses the oil spill area, the airbag device supports and assists in fixing the oil boom. An oil absorption assembly is mounted on the airbag device, and the airbag device provides support and buoyancy, so that the oil absorption assembly can float on the oil surface and fully contact the spilled oil, and facilitate subsequent operation of the oil absorption assembly; The airbag device can also play a cushioning and protective role.

10. The system according to claim 9, characterized in that The navigation support module includes a number of solar panels, tire buffer devices and electromagnetic release control devices carried on the ship; The tire buffer device is used to reduce the damage to the hull caused by spilled obstacles when the airbag device and the oil collector are in the retracted state; The electromagnetic release control device is located on the mother ship's hanger and the aircraft. When powered on, it generates magnetic force to lift the aircraft and release it to the sea level through the cable and the aircraft's own weight.

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