Oil spill treatment ship based on multifunctional integrated cabin and application of oil spill treatment ship

Abstract

The invention discloses an oil spill treatment ship based on a multifunctional integrated cabin and application of the oil spill treatment ship, and belongs to the technical field of water surface environment protection. The ship comprises a deck, a cabin body below the deck and a navigation bridge installed on the surface of the deck. The top face and the interior of the navigation bridge are fixedly connected with a camera and a water surface oil spill emergency treatment system correspondingly. A mechanical arm base and a mechanical arm movably connected to the mechanical arm base are fixedly connected to the surface of a deck in front of the navigation bridge, a transverse oil suction roller is fixedly connected to the front end of the mechanical arm, and outward-opening arm unfolding plates are fixedly connected to the positions, on the two sides of the oil suction roller, of the prow; the cabin body is divided into a port treatment area and a starboard treatment area by a longitudinal isolation wall extending along the direction of the cabin body keel; an oil spill recovery cabin and a garbage compression cabin are sequentially arranged in the larboard treatment area from a ship bow to a ship stern; a sand excavation monitoring cabin is arranged in the starboard treatment area; and the stern parts of the port treatment area and the starboard treatment area are isolated to form a shared power cabin, so that a cabin body structure with compact space and integrated functions is formed.

Description

Technical Field

[0001] The present invention relates to the technical field of water surface environmental protection, and more particularly to an oil spill control vessel based on a multifunctional integrated cabin and application thereof. Background Art

[0002] Oil spill control vessels are various types of vessels used for the management and protection of oil spill environments in rivers, lakes, reservoirs, and sea areas. Existing oil spill control vessels mostly adopt a modular design, but there are many problems such as the dispersed layout of various functional compartments resulting in lengthy pipelines, low operational efficiency, and the installed suspended sensors are susceptible to water impact and poor measurement accuracy. Especially when dealing with major accidents such as oil spills, it is impossible to achieve simultaneous treatment of multiple pollutants. Current oil spill environmental treatment also has the following technical defects:

[0003] Disconnect between monitoring and execution: Traditional satellite monitoring requires over two hours to transmit data, preventing vessels on the scene from obtaining real-time data on changes in the spill boundary, leading to significant response delays. For example, in one offshore oil spill, satellite data transmission took two hours and 15 minutes, missing the optimal recovery opportunity and causing the spill's spread to triple.

[0004] Equipment adjustment lag: The skimmer speed relies on manual observation and adjustment, resulting in a recovery rate of less than 40% for thin oil layers. For example, in a certain marine oil spill, the recovery rate of a manually adjusted skimmer was only 38% when the oil film thickness was 1.5mm.

[0005] Inefficient collaboration: UAVs and ships use one-way communication, resulting in command transmission delays exceeding 30 seconds and packet loss rates as high as 15%. For example, in a maritime oil spill incident, one-way communication caused a 45-second delay in ship routing and an oil slick tracking error exceeding 50 meters. Summary of the Invention

[0006] 1. Technical problem to be solved by the invention

[0007] In response to the above-mentioned problems existing in the prior art of oil spill environmental management, the present invention provides an oil spill management vessel based on a multifunctional integrated cabin and its application. Through the compact space, functionally integrated cabin structure, and integrated air-water monitoring, hierarchical decision-making and adaptive control, a complete oil spill treatment closed-loop system is constructed, providing an efficient and reliable technical solution for environmental oil spill emergency treatment.

[0008] 2. Technical solution

[0009] In order to achieve the above object, the technical solution provided by the present invention is:

[0010] The invention relates to an oil spill control vessel based on a multifunctional integrated cabin, comprising a deck, a cabin below the deck and a driving platform installed on the deck surface, wherein the top surface and the interior of the driving platform are fixedly connected with a camera and a surface oil spill emergency treatment system respectively, so as to monitor the water surface pollution status at any time; a mechanical arm base and a mechanical arm movably connected to the mechanical arm base are fixedly connected to the deck surface in front of the driving platform, the front end of the mechanical arm is fixedly connected with a transverse oil suction drum, and the bow on both sides of the oil suction drum are fixedly connected with outward-opening expansion arm plates, so as to maximize the oil spill collection surface; the cabin is divided into a port side treatment area and a starboard side treatment area by a longitudinal partition wall extending along the cabin keel direction; the port side treatment area is sequentially arranged with an oil spill recovery cabin and a garbage compression cabin from the bow to the stern; the starboard side treatment area is provided with a sand mining monitoring cabin; the stern parts of the port side treatment area and the starboard side treatment area are separated from a common power cabin by a transverse partition wall, so as to form a cabin structure with compact space and integrated functions.

[0011] A further technical solution is that the sand mining monitoring cabin includes a sensor well that runs from the cabin top to the bottom of the ship; the garbage compression cabin includes a hot melt chamber, which is fixed with a high-temperature resistant inner layer, a ceramic insulation layer and a stainless steel outer shell from the inside to the outside.

[0012] According to a further technical solution, a conical flow guide cover is installed on the top of the sensor well, and a sensor fixing ring is fixed between the conical flow guide cover and the inner wall of the sensor well.

[0013] Further technical solutions include a surface oil spill emergency response system installed in the control system of the deck and the drone, which includes:

[0014] The drone cruise module is used to carry a dual-spectral camera to obtain image data of the oil spill area;

[0015] Heat map generation module, used to process images based on the HSV color space segmentation algorithm to generate oil spill heat maps;

[0016] Path planning module, used to plan the optimal path based on the ship positioning and the coordinates of the heat map feature points using the improved Dijkstra algorithm;

[0017] Command transmission module, used to establish a LoRa communication link between the drone and the ship;

[0018] The power regulation module is used to dynamically adjust the speed of the oil absorption drum according to the infrared oil film thickness data.

[0019] As a further technical solution, the control console is equipped with a GPS or Beidou satellite navigation system positioning module and attitude sensor; the positioning module has a positioning accuracy of ±1 meter, and the attitude sensor has a roll angle measurement range of ±15° and an accuracy of ±0.2°.

[0020] The entire surface oil spill emergency response system consists of:

[0021] (1) Air-water integrated monitoring network

[0022] Drones equipped with visible light / infrared dual-spectrum cameras (such as the DJI M300 RTK equipped with the Zenmuse H20T infrared camera) can achieve multispectral data collection.

[0023] The control console is equipped with a GPS positioning module (positioning accuracy ±1 meter) and an attitude sensor (roll angle measurement range ±15°, accuracy ±0.2°) to obtain position and attitude data in real time.

[0024] (2) Hierarchical decision-making mechanism

[0025] The drone executes a fast image segmentation algorithm to achieve real-time identification of oil spill areas based on the HSV color space.

[0026] The ship runs the improved Dijkstra algorithm and plans the optimal path based on the distance, oil film concentration and water flow.

[0027] (3) Adaptive control strategy

[0028] The speed of the oil absorption drum is dynamically adjusted based on the infrared oil film thickness sensor data to adapt to different oil film thicknesses.

[0029] The ship roll compensation strategy is adopted and the Kalman filter algorithm is used to eliminate the influence of ship roll on the recovery efficiency.

[0030] An application of the above-mentioned oil spill control vessel comprises the following steps:

[0031] (1) Use the camera carried by the drone to cruise and scan the oil spill area to obtain multispectral image data;

[0032] (2) The image data is processed using the HSV color space segmentation algorithm to generate an oil spill heat map:

[0033] (3) generating an optimal recovery path for the ship by using an improved Dijkstra algorithm based on the positioning coordinates of the ship's GPS or Beidou satellite navigation system and the coordinates of the characteristic points of the heat map;

[0034] (4) Establishing a LoRa communication link between the UAV and the ship, transmitting the path coordinate point sequence and equipment control instructions;

[0035] (5) Dynamically adjust the speed of the ship's oil absorption drum based on the oil film thickness data fed back by the infrared oil film thickness sensor.

[0036] In a further application, the camera in step (1) is a visible light / infrared dual-spectrum camera;

[0037] The HSV color space segmentation algorithm in step (2) is as follows: converting the RGB image into the HSV space, setting the oil spill feature thresholds H∈[20,40], S∈[0.2,0.6], and V∈[0.3,0.8], and performing morphological closing operations on the pixels that meet the thresholds to generate a continuous oil film area;

[0038] The cost function of the improved Dijkstra algorithm in step (3) is F(n)=α·distance(n)+β·oil film concentration(n)+γ·water flow influence(n), where α+β+γ=1, and n is a path node;

[0039] In the step (5), the dynamic adjustment satisfies: when the oil film thickness δ≤2mm, the oil absorption roller speed V=200 rpm; when 2mm<δ≤5mm, V=200+50×(δ-2); when δ>5mm, V=350 rpm.

[0040] For further application, the altitude of the UAV cruise scanning in step (1) is 50±1 meters, and a zigzag path cruise is adopted, with a single-side coverage width of 100±2 meters.

[0041] For further application, the improved Dijkstra algorithm in step (3) also considers the ship's roll angle θ, and processes the ship's attitude data through the Kalman filter, with the roll compensation coefficient K_comp = 1 + 0.05 × |θ| + 0.02 × δ, and the final rotation speed V_set = V_base × K_comp.

[0042] For further application, the LoRa communication link in step (4) adopts the E32-900T module, the communication cycle is 200ms, and the communication packet loss rate is ≤3%.

[0043] For further application, the measurement range of the infrared oil film thickness sensor in step (5) is 0-10 mm, the measurement accuracy is ±0.5 mm, and the sampling frequency is 1 kHz.

[0044] For further application, the preferred steps are:

[0045] (1) The drone cruise scans to obtain multispectral images of the oil spill area, with a flight altitude of 50±1 meters, a zigzag path, a single-side coverage width of 100 meters, and a sampling frequency of 1 Hz.

[0046] (2) The image data is converted into HSV space, and the oil spill feature thresholds are set as H∈[20,40], S∈[0.2,0.6], and V∈[0.3,0.8]. The continuous oil film area thermal map is generated through morphological closing operation.

[0047] (3) The coordinates of the characteristic points of the thermal map are extracted and combined with the GPS positioning data of the ship. The cost function F(n) = α·distance(n) + β·oil film concentration(n) + γ·water flow effect(n) (α = 0.4, β = 0.3, γ = 0.3) is used to plan the optimal recovery path.

[0048] (4) The path point sequence and control instructions are transmitted through the LoRa communication link (E32-900T module), with a communication cycle of 200ms and a packet loss rate of ≤3%.

[0049] (5) The infrared oil film thickness sensor (measuring range 0-10 mm, accuracy ±0.5 mm) provides real-time feedback data, and the oil suction drum speed is adjusted according to the rule of V = 200 rpm when δ ≤ 2 mm, V = 200 + 50 × (δ - 2) when 2 mm < δ ≤ 5 mm, and V = 350 rpm when δ > 5 mm. The speed is corrected in combination with the roll compensation coefficient K_comp = 1 + 0.05 × |θ| + 0.02 × δ.

[0050] 3. Beneficial effects

[0051] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0052] (1) The oil spill control vessel based on the multifunctional integrated cabin of the present invention has port and starboard partitions, which enable oil spill recovery, garbage compression and sand mining monitoring to operate in parallel, greatly improving the processing efficiency;

[0053] The direct-through sensor well on the bottom of the ship reduces turbulent interference, with a measurement error of ≤5%, compared to 15% for the suspended sensor, greatly improving measurement accuracy.

[0054] The multi-layer structure of the hot melt cavity ensures that the temperature of the cabin outer panel is ≤65℃ under 230℃ working conditions, effectively avoiding the risk of thermal deformation.

[0055] (2) The oil spill control vessel based on the multifunctional integrated cabin of the present invention and its application significantly shorten the response time: the monitoring-decision-execution closed-loop time is compressed from 60 minutes to within 10 minutes. In a simulation experiment, it took only 8 minutes and 42 seconds from the discovery of the oil spill to the start of the ship's recovery.

[0056] Recovery efficiency has been significantly improved: the recovery rate of thin oil layers (δ≤2mm) has increased from 40% to 72%, and the overall oil spill recovery efficiency has increased to over 85%;

[0057] Enhanced communication reliability: The communication packet loss rate has been reduced from the industry average of 15% to below 3%, and the communication cycle is 200ms, ensuring real-time transmission of instructions.

[0058] Improved environmental adaptability: Through the roll compensation strategy, the speed adjustment error is ≤5% when the ship's roll angle is ±10°, ensuring recovery stability under complex water surfaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 A schematic diagram of the structure of an oil spill control vessel according to a specific embodiment;

[0060] Figure 2 Schematic diagram of the cabin structure of a specific embodiment;

[0061] Figure 3 A schematic diagram of the sensor well structure of a specific embodiment;

[0062] Figure 4 A schematic diagram of the hot melt chamber structure of a specific embodiment;

[0063] Figure 5 It is a flowchart of the water surface oil spill emergency treatment system operation in a specific embodiment;

[0064] Figure 6 A comparison diagram of HSV color space segmentation effects in a specific embodiment;

[0065] Figure 7 This is a schematic diagram of oil spill control vessel path planning in a specific embodiment.

[0066] In the figure: 1-cabin; 2-deck; 3-driving station; 4-camera; 5-mechanical arm; 8-UAV; 10-oil suction port; 11-longitudinal bulkhead; 12-port processing area; 13-starboard processing area; 14-transverse bulkhead; 15-sensor well; 16-common power cabin; 17-arm plate; 101-UAV cruise module; 102-thermal map generation module; 103-path planning module; 104-command transmission module; 105-power regulation module; 106-oil suction drum; 121-oil spill recovery cabin; 122-garbage compression cabin; 131-sand mining monitoring cabin; 151-conical deflector cover; 152-sensor fixing ring; 153-sealing flange; 1221-hot melt chamber; 1222-high temperature resistant liner layer; 1223-ceramic insulation layer; 1224-stainless steel shell. DETAILED DESCRIPTION

[0067] In order to further understand the content of the present invention, the invention is described in detail with reference to the accompanying drawings.

[0068] Example 1

[0069] The oil spill control vessel based on the multifunctional integrated cabin 1 of this embodiment and its application are applied to the treatment of oil spills in thin oil layers in nearshore waters:

[0070] like Figure 1 、 2As shown, an oil spill control vessel based on a multifunctional integrated cabin 1 comprises a deck 2, a cabin 1 below the deck 2 and a driving platform 3 installed on the surface of the deck 2, a camera 4 is fixedly connected to the top surface of the driving platform 3, the interior of the driving platform 3 is connected to a surface oil spill emergency treatment system, and the camera 4 monitors the surface pollution status at any time; a base of a mechanical arm 5 and a mechanical arm 5 movably connected to the base of the mechanical arm 5 are fixedly connected to the surface of the deck 2 in front of the driving platform 3, a transverse oil suction drum is fixedly connected to the front end of the mechanical arm 5, the drum has a diameter of 800 mm, and outward-opening arm plates 17 are fixedly connected to the bow on both sides of the oil suction drum, the fixed end of the arm plate 17 is close to the oil suction port 10 opened at the front end of the cabin 1, and the outward-opening angle of the arm plate 17 can maximize the oil spill collection surface; the cabin 1 is divided into a port side treatment area 12 and a starboard side treatment area 13 by a longitudinal partition wall 11 extending along the keel direction of the cabin 1; the port side The processing area 12 is arranged with an oil spill recovery cabin 121 and a garbage compression cabin 122 in sequence from the bow to the stern; the starboard processing area 13 is provided with a sand mining monitoring cabin 131, whose current function is to monitor the sand mining situation of other ships; the stern of the port processing area 12 and the starboard processing area 13 are separated by a transverse partition wall 14 to form a common power cabin 16. The common power cabin 16 is located between the port and starboard processing areas 13 and has a built-in hydraulic station. Its output end is connected to the hydraulic cylinder through a high-pressure oil pipe laid along the longitudinal partition wall 11; the sand mining monitoring cabin 131 includes a sensor well 15 that runs from the top of the cabin to the bottom of the ship. The center of the wellhead is 2400mm horizontally away from the centerline of the ship. The sensor well 15 is integrated into the sand mining monitoring cabin 131, making full use of the existing monitoring function of the sand mining monitoring cabin 131 and integrating various monitoring technologies into the same cabin area; the entire cabin 1 forms a cabin 1 structure with compact space and integrated functions. A hot melt chamber 1221 is installed in the garbage compression chamber 122, and the horizontal distance between the center of the hot melt chamber 1221 and the center line of the ship is 1800mm. Figure 4 As shown, the hot melt cavity 1221 is fixed with a high temperature resistant inner layer 1222, a ceramic insulation layer 1223 and a stainless steel shell 1224 from the inside to the outside. The high temperature resistant inner layer 1222 is an Inconel 600 alloy layer with a wall thickness of 20 mm, the ceramic insulation layer 1223 is 50 mm thick, and the stainless steel shell 1224 is 10 mm thick. Figure 3 As shown, a conical flow guide cover 151 is installed on the top of the sensor well 15, and a sensor fixing ring 152 is fixed between the conical flow guide cover 151 and the inner wall of the sensor well 15; the conical flow guide cover 151 is a conical structure with a top angle of 60°; 8 Φ10mm water holes are evenly distributed on the fixing ring body; the conical flow guide cover 151 is fixedly connected through the sealing flange 153 at its bottom, and the sealing flange 153 is a flange with a PN16 pressure level.

[0071] It also includes the UAV 8 on deck 2 and the surface oil spill emergency treatment system installed in the control system of the bridge 3. The entire surface oil spill emergency treatment system consists of:

[0072] Air-water integrated monitoring network

[0073] Drone 8 is equipped with a visible light / infrared dual-spectrum camera, such as the DJI M300 RTK equipped with a Zenmuse H20T infrared camera, to achieve multispectral data collection.

[0074] The control console 3 is equipped with a GPS positioning module with a positioning accuracy of ±1 meter; and an attitude sensor with a roll angle measurement range of ±15° and an accuracy of ±0.2°, which can obtain position and attitude data in real time.

[0075] Hierarchical decision-making mechanism

[0076] The 8-terminal UAV executes a fast image segmentation algorithm and realizes real-time identification of oil spill areas based on the HSV color space.

[0077] The ship runs the improved Dijkstra algorithm and plans the optimal path based on the distance, oil film concentration and water flow.

[0078] Adaptive control strategy

[0079] The speed of the oil absorption drum is dynamically adjusted based on the infrared oil film thickness sensor data to adapt to different oil film thicknesses.

[0080] The ship roll compensation strategy is adopted and the Kalman filter algorithm is used to eliminate the influence of ship roll on the recovery efficiency.

[0081] like Figure 5 As shown, the emergency handling system includes a drone cruise module 101, a thermal map generation module 102, a path planning module 103, an instruction transmission module 104, a power regulation module 105 and an oil suction drum 106; wherein, the oil suction drum 106 outputs the oil film thickness feedback data to the drone cruise module 101, the drone cruise module 101 outputs the spectral image to the thermal map generation module 102, the thermal map generation module 102 outputs the oil film coordinate data to the path planning module 103, the path planning module 103 outputs the path point sequence to the instruction transmission module 104, the instruction transmission module 104 outputs the LoRa instruction to the power regulation module 105, and the power regulation module 105 outputs the speed control to the oil suction drum 106.

[0082] Drone Cruise Module 101: DJI M300 RTK, equipped with Zenmuse H20T infrared camera, flight altitude 50 meters, cruise speed 10m / s, such as Figure 3 As shown, it shows the broken line path of the ship from point A to point B (the center of the oil film), zigzag scanning, and a single-side coverage width of 100 meters.

[0083] Vessel: 5-meter-long catamaran workboat, equipped with SK-5 rotary ship oil suction drum 106 (rated power 5.5kW, rated speed 300rpm), GPS or Beidou satellite navigation system positioning module (positioning accuracy ±1 meter), attitude sensor (roll angle measurement range ±15°, accuracy ±0.2°), infrared oil film thickness sensor (measuring range 0-10mm, accuracy ±0.5mm, sampling frequency 1kHz).

[0084] Communication module: LoRa E32-900T, communication distance 2km, communication cycle 200ms.

[0085] Workflow:

[0086] Take-off phase: UAV 8 takes off from the shore platform, rises to an altitude of 50 meters within 30 seconds, and enters cruise mode.

[0087] Monitoring phase: 1km near the shore in a zigzag path 2 The water area is scanned, and a multispectral image is obtained every 10 seconds and transmitted to the ground station.

[0088] Data processing: After the ground station receives the RGB image, it executes the HSV segmentation algorithm:

[0089] Python#HSV segmentation pseudocode

[0090] hsv=cv2.cvtColor(rgb_img,cv2.COLOR_RGB2HSV)

[0091] mask=cv2.inRange(hsv,(20,50,50),(40,255,255))

[0092] kernel=np.ones((5,5),np.uint8)

[0093] closed_mask=cv2.morphologyEx(mask,cv2.MORPH_CLOSE,kernel).

[0094] like Figure 6 As shown, the left is the original RGB image, and the right is the binary thermal map after HSV segmentation. The thermal map generation module 102 generates a binary thermal map, extracts the coordinates of the oil film contour vertices, and calculates the oil film area of ​​about 0.2 km 2 , with an average thickness of 1.8mm. The working principle is: UAV 8 detects water pollution and identifies Figure 2The picture will be separated into black and white by HSV technology, and then these black dots will be written in the code of the above program. When it is run, it will identify the illustrated area, making it easier to accurately treat the pollution in this water area later.

[0095] The path planning module 103 plans the path generation: Figure 7 The figure shows the optimal path planned for a ship from point A to point B (the center of the oil slick), taking into account the influence of oil slick concentration and water flow. The ship's current position is A (120.5°E, 31.3°N), the oil slick's center is B (120.52°E, 31.31°N), and the water velocity is 0.5 m / s, heading northeast. Using the modified Dijkstra algorithm with a cost function of α = 0.4, β = 0.3, and γ = 0.3, a broken-line path A → C → B → D is planned, with a total distance of 1.2 km and an estimated travel time of 8 minutes.

[0096] The instruction transmission module 104 performs instruction transmission: the path point sequence (coordinates of A, C, B, and D) and the initial control instruction (oil suction drum speed 200 rpm) are sent through the LoRa module. The communication delay is 180 ms and there is no packet loss.

[0097] Combine Figure 3 The power regulation module 105 performs dynamic adjustment: when the ship reaches point C, the infrared sensor detects the oil film thickness δ = 1.8 mm, and the speed is maintained at 200 rpm; when it reaches point D, δ = 2.3 mm, and the speed is calculated as V = 200 + 50 × (2.3 - 2) = 215 rpm. At the same time, the ship's roll angle θ = 3°, the compensation coefficient K_comp = 1 + 0.05 × 3 + 0.02 × 2.3 = 1.196, and the final speed V_set = 215 × 1.196 ≈ 257 rpm.

[0098] Verification results:

[0099] Portal and starboard partitions enable parallel operations of oil spill recovery, garbage compression, and sand mining monitoring, increasing processing efficiency by 40%;

[0100] The ship bottom direct-through sensor well 15 reduces turbulent interference, with a measurement error of ≤5%, compared to 15% for the suspended type, greatly improving measurement accuracy;

[0101] The multi-layer structure of the hot melt cavity 1221 ensures that the temperature of the outer plate of the cabin 1 is ≤65°C under the working condition of 230°C, effectively avoiding the risk of thermal deformation;

[0102] The time from the discovery of the oil spill to the start of vessel recovery took 8 minutes and 42 seconds, which is 86% shorter than traditional methods.

[0103] The oil film thickness recognition error is ±0.3mm, and the recognition accuracy is 98.5%.

[0104] The communication cycle is 200ms, the packet loss rate is 2.3%, and the command transmission is stable.

[0105] The recovery operation lasted 30 minutes, and the recovery rate of thin oil layers (δ≤2mm) was 72.3%, an increase of 80.7% compared with manual adjustment.

[0106] Example 2

[0107] The oil spill control vessel based on the multifunctional integrated cabin 1 and its application in this embodiment have the same basic vessel configuration and steps as in Example 1, with the difference or improvement being that it is applied to the treatment of medium oil film thickness oil spills (Bohai Bay case):

[0108] Scene setting:

[0109] Oil spill area: simulated near a port in Bohai Bay, with an oil film area of ​​0.5km 2 , average thickness 3.5mm, water flow velocity 0.8m / s, direction southeast.

[0110] The equipment configuration is the same as that of Example 1, with the addition of a water flow sensor (measuring range 0-2 m / s, accuracy ±0.1 m / s).

[0111] Key steps:

[0112] HSV segmentation: After the original image is transformed into HSV and morphologically processed, the oil film area recognition accuracy is 97.8%, and the contour extraction error is ≤5 meters.

[0113] Path planning: In the cost function, γ = 0.4 (the weight of water flow influence is increased). The ship travels from position P (118.9°E, 38.7°N) to the center of the oil film Q (118.92°E, 38.71°N). The planned path takes water flow pressure into consideration and adopts an S-shaped route. The total distance is 1.5 km, and the estimated sailing time is 10 minutes.

[0114] Dynamic adjustment: When δ = 3.5 mm, the basic speed V_base = 200 + 50 × (3.5 - 2) = 275 rpm, the ship roll angle θ = 5°, K_comp = 1 + 0.05 × 5 + 0.02 × 3.5 = 1.32, V_set = 275 × 1.32 = 363 rpm. Since the upper limit of the speed is 350 rpm, the limit is 350 rpm.

[0115] Technical Effects

[0116] The response time is 9 minutes and 15 seconds, meeting the requirement of within 10 minutes.

[0117] The oil film recovery efficiency is 85.6%, of which the recovery rate of 3-5mm thick oil film is 82.1%.

[0118] After ship roll compensation, the speed fluctuation is ≤±8rpm, and the recovery stability is good

[0119] Example 3

[0120] The oil spill control vessel based on the multifunctional integrated cabin 1 and its application in this embodiment have the same basic ship equipment configuration and steps as in Example 1, with the difference or improvement being that it is applied to oil spill treatment in a strong water flow environment:

[0121] Complex environmental parameters:

[0122] Oil spill area: simulates the area near a drilling platform in the South China Sea, with a water flow speed of 1.2m / s, southwest direction, wave height of 1.5m, and oil film thickness of 5.5mm (exceeding 5mm in some areas).

[0123] Equipment configuration: UAV 8 has a wind resistance level of ≥ 6, the ship is equipped with anti-roll fins, and the infrared sensor is equipped with a waterproof shell (IP68); other equipment configurations are the same as in Example 1.

[0124] Assignment focus:

[0125] Path planning: Water flow influence weight γ = 0.5, cost function F(n) = 0.3·distance(n) + 0.2·oil film concentration(n) + 0.5·water flow influence(n), plan a bypass path to avoid the ship sailing against strong currents, the total distance is 2.1 km, and the sailing time is 14 minutes (including water flow influence).

[0126] Dynamic adjustment: When δ>5mm, the basic speed is 350rpm, the ship's roll angle θ=8°, K_comp=1+0.05×8+0.02×5.5=1.51, V_set=350×1.51=528.5rpm. Since the speed limit is 350rpm, the overcurrent protection is triggered, the frequency is reduced by 50% to 175rpm, and the anti-roll fins are activated to reduce the roll angle.

[0127] Communication optimization: Using frequency hopping technology, the communication packet loss rate is reduced from 4.5% to 2.8%, ensuring reliable command transmission.

[0128] Verify data:

[0129] It took 9 minutes and 50 seconds from the discovery of the oil spill to the start of recovery, which still met the 10-minute response requirement in a strong water flow environment.

[0130] The recovery rate of thick oil layers (δ>5mm) is 88.3%, and the overall recovery efficiency is 85.2%.

[0131] The roll compensation strategy enables the oil suction drum to work effectively for 92% of the time when the ship's wave height is 1.5 meters, an increase of 40% compared with traditional methods.

[0132] Summary of technical effects of Examples 1-3:

[0133] Response time: The average response time in the three embodiments was 8 minutes and 59 seconds, all ≤10 minutes, which is 91.6% shorter than the more than 2 hours of traditional satellite monitoring.

[0134] Recovery efficiency: The average recovery rate of thin oil layers (δ≤2mm) is 72.1%, the average recovery rate of medium oil films (2mm<δ≤5mm) is 82.4%, and the average recovery rate of thick oil layers (δ>5mm) is 88.3%. The overall recovery efficiency is 85.2%, far exceeding the 40-60% of traditional methods.

[0135] Communication performance: The average packet loss rate of the LoRa communication link is 2.5%, the communication cycle is 200ms, and the command transmission delay is ≤200ms, meeting the real-time collaboration requirements.

[0136] Environmental adaptability: In a complex environment with a roll angle of ±10°, a water velocity of 1.2m / s, and a wave height of 1.5 meters, the system can still operate stably, and the recovery efficiency fluctuation is ≤5%, demonstrating strong environmental adaptability.

[0137] The oil spill control vessel based on the multifunctional integrated hull 1 of Examples 1-3 forms a compact and functionally integrated hull 1 structure; the port and starboard side partitions of the vessel enable oil spill recovery, garbage compression, and sand mining monitoring to be performed in parallel, greatly improving processing efficiency;

[0138] Based on the application of the oil spill control vessel with the multifunctional integrated cabin 1, a complete oil spill treatment closed-loop system is constructed through air-water integrated monitoring, hierarchical decision-making and adaptive control, which effectively solves the defects of traditional technologies and provides an efficient and reliable technical solution for surface oil spill emergency treatment.

[0139] The above is a schematic description of the present invention and its embodiments, which is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure and manufacturing steps are not limited thereto. Therefore, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs structures and embodiments similar to this technical solution without creatively designing them, they shall fall within the scope of protection of the present invention.

Claims

1. An oil spill control vessel based on a multifunctional integrated cabin, comprising a deck, a cabin below the deck, and a bridge mounted on the deck surface, characterized in that: The top surface and interior of the bridge are respectively fixedly connected to a camera and a surface oil spill emergency treatment system; the deck surface in front of the bridge is fixedly connected to a mechanical arm base and a mechanical arm movably connected to the mechanical arm base, the front end of the mechanical arm is fixedly connected to a horizontal oil suction drum, and the bow on both sides of the oil suction drum is fixedly connected to an outward-opening expansion arm plate; The cabin is divided into a port side processing area and a starboard side processing area by a longitudinal partition wall extending along the cabin keel direction; The port side treatment area is equipped with oil spill recovery tanks and garbage compression tanks from the bow to the stern. A sand mining monitoring cabin is set up in the starboard processing area; The stern of the port side processing area and the starboard side processing area are separated from the common power compartment by a transverse bulkhead.

2. The oil spill control vessel according to claim 1, characterized in that: The sand mining monitoring cabin includes a sensor well that runs from the cabin top to the bottom of the ship; the garbage compression cabin includes a hot melt cavity, which is fixed with a high-temperature resistant liner layer, a ceramic insulation layer and a stainless steel shell from the inside to the outside.

3. The oil spill control vessel according to claim 2, characterized in that: A conical flow guide cover is installed on the top of the sensor well, and a sensor fixing ring is fixed between the conical flow guide cover and the inner wall of the sensor well.

4. The oil spill control vessel according to claim 3, characterized in that: It also includes the surface oil spill emergency response system installed in the drone on the deck and the control system on the bridge. The surface oil spill emergency response system includes: The drone cruise module is used to carry a dual-spectral camera to obtain image data of the oil spill area; Heat map generation module, used to process images based on the HSV color space segmentation algorithm to generate oil spill heat maps; Path planning module, used to plan the optimal path based on the ship positioning and the coordinates of the heat map feature points using the improved Dijkstra algorithm; Command transmission module, used to establish a LoRa communication link between the drone and the ship; The power regulation module is used to dynamically adjust the speed of the oil absorption drum according to the infrared oil film thickness data.

5. The oil spill control vessel according to claim 3, characterized in that: The control console is equipped with a GPS or Beidou satellite navigation system positioning module and an attitude sensor; the positioning module has a positioning accuracy of ±1 meter, and the attitude sensor has a roll angle measurement range of ±15° and an accuracy of ±0.2°.

6. An application of the oil spill control vessel according to claim 4 or 5, characterized in that: The following steps are involved: (1) Use the camera onboard the drone to conduct patrol scans of the oil spill area; (2) Using the HSV color space segmentation algorithm to process the image data: (3) generating an optimal recovery path for the ship by using an improved Dijkstra algorithm based on the positioning coordinates of the ship's GPS or Beidou satellite navigation system and the coordinates of the characteristic points of the heat map; (4) Establishing a LoRa communication link between the UAV and the ship, transmitting the path coordinate point sequence and equipment control instructions; (5) Dynamically adjust the speed of the ship's oil absorption drum based on the oil film thickness data fed back by the infrared oil film thickness sensor.

7. The use of the oil spill control vessel according to claim 6, characterized in that: The camera in step (1) is a visible light / infrared dual-spectrum camera; The HSV color space segmentation algorithm in step (2) is as follows: converting the RGB image into the HSV space, setting the oil spill feature thresholds H∈[20,40], S∈[0.2,0.6], and V∈[0.3,0.8], and performing morphological closing operations on the pixels that meet the thresholds to generate a continuous oil film area; The cost function of the improved Dijkstra algorithm in step (3) is F(n)=α·distance(n)+β·oil film concentration(n)+γ·water flow influence(n), where α+β+γ=1, and n is a path node; In the step (5), the dynamic adjustment satisfies: when the oil film thickness δ≤2mm, the oil absorption roller speed V=200 rpm; when 2mm<δ≤5mm, V=200+50×(δ-2); when δ>5mm, V=350 rpm.

8. The use of the oil spill control vessel according to claim 7, characterized in that: In the step (1), the UAV cruise scan height is 50±1 meters, a zigzag path cruise is adopted, and the single-side coverage width is 100±2 meters.

9. The use of the oil spill control vessel according to claim 8, characterized in that: The improved Dijkstra algorithm in step (3) also considers the ship's roll angle θ, and processes the ship's attitude data through a Kalman filter, with a roll compensation coefficient K_comp = 1 + 0.05 × |θ| + 0.02 × δ, and a final rotation speed V-set = V-base × K-comp.

10. The use of the oil spill control vessel according to claim 8, characterized in that: In step (4), the LoRa communication link adopts the E32-900T module, the communication cycle is 200ms, and the communication packet loss rate is ≤3%; In step (5), the measurement range of the infrared oil film thickness sensor is 0-10 mm, the measurement accuracy is ±0.5 mm, and the sampling frequency is 1 kHz.

Images