Real-time detection method and device for offshore spilled oil in-situ combustion disposal rate

Abstract

The invention discloses a method and device for real-time detection of the in-situ combustion rate of spilled oil on the sea, the device comprises an underwater robot platform system, an aerial unmanned aerial vehicle platform system and a mother ship computer, and according to the method, real-time detection of the oil layer thickness and the combustion rate in the spilled oil combustion process is achieved by emitting and collecting ultrasonic echo signals from the lower portion of an oil layer; a visible light and infrared multi-mode optical camera system is used for shooting an oil spill combustion area, an optical image processing algorithm is used for calculating the area of the oil spill combustion area, and the visible light and infrared multi-mode optical camera system and the area of the oil spill combustion area are combined to realize real-time measurement of key information such as combustion rate and oil disposal quantity. The technical problem that the combustion rate cannot be detected in real time in the prior art is solved, and technical support is provided for oil spill site disposition personnel to control the disposition process, improve the disposition rate and evaluate the disposition effect.

Description

Technical Field

[0001] The present invention belongs to the field of offshore oil spill disposal and detection, and particularly relates to a method and device for real-time detection of combustion rate, disposal oil volume, and disposal efficiency during on-site combustion of offshore oil spills, using an underwater robot and an aerial drone as platforms and based on ultrasonic detection technology and image processing technology. Background Art

[0002] With the increase in the exploitation of deep-sea oil and gas resources and the increasing dependence on offshore crude oil transportation in my country, the risk of offshore oil spills facing my country is increasing year by year. Offshore oil spills not only cause serious economic losses, but also cause irreparable damage to marine resources and marine ecological environment systems, and have become one of the important factors endangering the marine ecological environment.

[0003] The methods for handling oil spills on the sea surface include oil spill adsorption, mechanical recovery, chemical dispersion, and in-situ burning at sea. Among them, the in-situ burning method has the advantages of simple disposal process, fast disposal rate, high efficiency and low disposal cost. In recent years, it has been proven to be an effective means to quickly eliminate oil spills on the sea surface. In the process of in-situ burning of oil spills, two tugboats are usually used to tow the oil boom to collect the oil spill to a thickness that can be ignited (>2 mm), and then ignite it. During the burning process, the oil boom needs to be towed continuously to keep the thickness of the oil spill layer above the minimum thickness that can be burned to ensure that the burning process can continue. Real-time detection of key information such as oil layer thickness and burning rate during in-situ burning of oil spills not only helps on-site operators to understand and control the entire burning disposal process in real time and improve the disposal rate efficiency, but also provides a very important basis for evaluating the environmental hazards and economic losses caused by oil spill accidents.

[0004] At present, the measurement of the burning rate during the on-site burning disposal of offshore oil spills at home and abroad mainly relies on laboratory empirical data. The burning area is roughly estimated by manually taking images of the burning area and combining them with the oil boom line diagram. The two are combined to roughly estimate the amount of oil disposed during the oil spill burning process. However, the on-site burning rate of the oil spill changes dynamically with the burning process and the thickness of the oil layer. The artificial estimation of the area of ​​the oil spill burning area using the fence line diagram has poor accuracy and low efficiency, and it is impossible to achieve real-time and accurate measurement of the amount of oil disposed of the oil spill burning. Therefore, the development of a method and device for real-time detection of the burning rate during the on-site burning of offshore oil spills is currently a major demand in the field. Summary of the invention

[0005] Based on the defects and shortcomings of existing detection technologies, the present invention provides a method and device based on an underwater robot and an aerial drone platform, using ultrasonic detection technology and image processing technology to achieve real-time detection of key information such as oil layer thickness and burning rate during on-site burning of offshore oil spills.

[0006] The technical solution adopted by the present invention to achieve the above-mentioned purpose is:

[0007] A real-time detection device for the on-site combustion disposal rate of offshore oil spills, which detects the oil spill status of the on-site combustion area of ​​offshore oil spills through the coordinated cooperation of an underwater robot platform system and an aerial drone platform system, and calculates the on-site combustion disposal rate of the oil spills; including:

[0008] The underwater robot platform system is installed on the underwater robot body, including the underwater robot controller and the ultrasonic equipment, underwater positioning equipment, and oil layer temperature sensor respectively connected thereto; it is used to collect ultrasonic signals, temperature signals, and position signals when the underwater robot travels below the oil spill accident area, and transmit them back to the mother ship computer through the underwater robot cable;

[0009] The aerial drone platform system is installed on the aerial drone body and is equipped with a visible light and infrared light multi-modal optical shooting camera. It is used to take multi-angle and all-round photos when the aerial drone flies over the oil spill burning area, and transmit the captured images to the mother ship computer in real time through a wireless link;

[0010] The mother ship computer includes a control background and a data visualization integrated display interface. The control background calculates the real-time status parameters of the oil spill combustion according to the ultrasonic, temperature and position signals it receives, and accurately locates the oil spill combustion point and accurately measures the oil spill combustion area based on the multi-modal optical images it collects; the data visualization integrated display interface is used to synchronously visualize the real-time status parameters of the oil spill combustion in the image.

[0011] The ultrasonic acquisition device includes at least one ultrasonic signal transceiver and a plurality of high-frequency ultrasonic probes, which are used to transmit multi-channel ultrasonic signals and receive a plurality of ultrasonic signals reflected from the upper and lower surfaces of the oil layer.

[0012] The underwater positioning device is used to record the position information and motion trajectory of the underwater robot, and transmit it back to the mother ship computer for real-time display.

[0013] The control background is provided with the following program modules:

[0014] The data acquisition module is used to collect ultrasonic, temperature and position signals sent back by the underwater robot platform system and the aerial drone platform system, as well as multi-modal original images of the oil spill area and the burning area;

[0015] The image processing module performs image fusion and splicing on the collected multi-modal optical images, locates the oil spill burning point and the oil spill burning area, and synchronously visualizes the real-time status parameters of the oil spill burning in the image;

[0016] The sound velocity compensation module is used to make real-time correction and compensation for the propagation velocity v of the ultrasonic wave in the oil spill layer according to the relationship between the oil layer temperature gradient and the sound velocity;

[0017] Ultrasonic signal analysis and calculation module, used to calculate the real-time state parameters of oil spill combustion;

[0018] The visualization composition module is used to integrate the real-time state parameter calculation results of the oil spill combustion and the positioning and measurement results of the oil spill combustion area into the image.

[0019] The real-time state parameters of the oil spill combustion include the precise propagation time of the ultrasonic wave in the oil layer, the ultrasonic wave propagation velocity v correction compensation value, the real-time oil layer thickness of the oil spill combustion, the oil spill combustion rate and the amount of oil disposed.

[0020] The oil spill combustion calculation module is used to perform long-term positioning detection on the change of oil layer thickness at a certain position point, and to perform a comprehensive scan of the oil layer thickness distribution in the entire oil spill combustion area.

[0021] The propagation time Δt of ultrasonic wave in oil layer is calculated by using peak-to-peak method and quadratic correlation method.

[0022] A real-time detection method for marine oil spill combustion disposal rate comprises the following steps:

[0023] When the underwater robot and the aerial drone discover an oil spill accident at sea during the patrol mission, the location information is synchronized to the mother ship computer, which issues an oil spill detection command to the underwater robot platform system and the aerial drone platform system, which cooperate to collect signals and images and transmit them back to the mother ship computer;

[0024] In the mother ship's computer, the various program modules in the control background cooperate with each other to calculate the real-time status parameters of the oil spill combustion based on the ultrasonic, temperature and position signals they receive, and accurately locate the oil spill combustion point and accurately measure the oil spill combustion area based on the multimodal optical images they collect; the real-time status parameters of the oil spill combustion are synchronously visualized in the image.

[0025] The underwater robot platform system and the aerial drone platform system cooperate to collect signals and images, including:

[0026] In the underwater robot platform system, the underwater robot controller outputs instructions to control the ultrasonic device to transmit ultrasonic signals to the oil spill layer, and respectively collect ultrasonic echo signals reflected from the upper and lower surfaces of the oil spill layer; control the underwater positioning device to collect position information in real time; control the oil layer temperature sensor to collect the oil layer temperature in real time;

[0027] In the aerial drone platform system, visible light and infrared light multi-modal optical shooting cameras are controlled separately to take multi-angle and all-round photos of the oil spill burning area to obtain multi-modal image data.

[0028] The image processing module of the control background performs accurate positioning of the oil spill burning point and accurate measurement of the oil spill burning area on the collected multi-modal optical images, including:

[0029] Infrared cameras are used to collect thermal radiation images to avoid blurring of visible light images caused by smoke during oil spill combustion. The oil spill combustion point and the combustion area can be accurately located based on the temperature radiation information of the thermal radiation image. The detection results of the thermal radiation image are integrated into the visible light image for accurate display, and dynamic splicing and full coverage detection of the combustion area are achieved.

[0030] Furthermore, the ultrasonic acquisition device has an operating frequency of 1 MHz to 20 MHz, and sequentially or simultaneously excites / receives multiple ultrasonic signals; the ultrasonic probe is a non-focused water immersion ultrasonic probe, and its operating center frequency is 1.0 MHz to 15 MHz.

[0031] Furthermore, the calculation of the real-time state parameters of the oil spill combustion includes:

[0032] The ultrasonic time unit is used to calculate the precise propagation time Δt=t2-t1 of the ultrasonic wave in the oil layer according to the peak times t2 and t1 of the ultrasonic signal reflected from the upper and lower surfaces of the burning oil layer;

[0033] The oil layer thickness calculation unit is used to calculate the real-time oil layer thickness during the on-site burning of the spilled oil; the calculation formula is d=v(T)·Δt / 2, where v(T) is the propagation speed of the ultrasonic wave in the spilled oil layer, which depends on the average temperature T of the oil layer;

[0034] The oil spill burning rate calculation unit calculates the change in oil layer thickness per unit time as the oil spill burning rate;

[0035] The disposal calculation unit is used to calculate the amount of oil disposed and the disposal efficiency; the amount of oil disposed is the volume calculated by combining the thickness of the oil layer and the area of ​​the oil spill combustion region, and the disposal efficiency is the amount of oil disposed per unit time.

[0036] The present invention has the following beneficial effects and advantages:

[0037] 1. The present invention uses an underwater robot platform to measure the thickness of the oil layer from underwater, which can realize real-time and accurate measurement of the thickness of the oil layer during the on-site combustion of the oil spill, and detect the burning rate of the oil spill in real time by calculating the change of the oil layer thickness per unit time;

[0038] 2. The present invention can not only detect the change of single-point oil layer thickness during the on-site burning of the spilled oil, but also quickly scan the burning area of ​​the spilled oil to obtain the distribution of the oil layer thickness and determine the location of the maximum oil layer thickness;

[0039] 3. The present invention provides technical support for on-site disposal personnel to drag the oil boom to accurately control the thickness of the oil layer and maintain a high rate of burning of the oil spill by real-time measurement of the oil layer thickness and burning rate during the on-site burning of the oil spill, thereby improving the oil spill disposal rate, reducing the oil spill disposal cost, and reducing the harm of the oil spill to the marine environment;

[0040] 4. The present invention can overcome the obstruction of thick smoke during the oil spill combustion process to achieve accurate measurement of the area of ​​the oil spill combustion area, and combine the oil spill combustion rate to achieve real-time and accurate measurement of the oil volume and efficiency of the oil spill combustion disposal;

[0041] 5. The present invention overcomes the defect that existing detection methods and technologies cannot realize real-time detection of the on-site combustion process of oil spills, and provides technical support for on-site disposal personnel of oil spills to formulate disposal plans, monitor the oil spill combustion disposal process, and improve the oil spill disposal rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of a device capable of realizing real-time detection of the burning rate of an oil spill in situ burning process based on an underwater robot and an aerial drone platform according to the present invention;

[0043] Figure 2 Schematic diagram of the underwater robot platform system integrating the ultrasonic measurement system and the underwater positioning system to detect the thickness of the oil layer in the oil spill burning area;

[0044] Figure 3 Sonar images of ultrasonic signals collected during the burning of oil spills;

[0045] Figure 4 It is a schematic diagram of multimodal image fusion and multi-angle image stitching algorithm;

[0046] Figure 5 The data visualization integrated display system displays the oil layer thickness and burning area diagram in real time during the oil spill burning process;

[0047] In the figure: 1. Cable-controlled underwater robot platform system, 2. Aerial drone platform system, 3. Mother ship computer, 4. Burning oil spill floating on the water surface; 5. Ultrasonic probe, 6. Ultrasonic equipment, 7. Underwater positioning equipment, 8. Underwater robot controller, 9. Signal transmission cable; 10. Oil layer temperature sensor; 11. Ultrasonic signal reflected from the lower surface of the oil layer, 12. Ultrasonic signal reflected from the upper surface of the oil layer, 13. Secondary reflection signal of ultrasonic wave in the oil layer. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0049] Due to the different acoustic impedances of ultrasound in oil layers, water and air, when ultrasound is transmitted to the interface between oil layers and water, and the interface between oil layers and air, some energy will be radiated back due to the difference in acoustic impedance. By calculating the time difference of the reflected signals from the upper and lower surfaces of the oil layer, the propagation time of ultrasound in the oil layer can be obtained. Multiplying it by the propagation speed of ultrasound in the oil layer can give the thickness of the oil layer. By calculating the change in oil layer thickness per unit time during the on-site combustion of the spilled oil, real-time detection of the combustion rate can be achieved.

[0050] Taking advantage of the fact that infrared images are not easily affected by bad weather and smoke, and the high spatial resolution and clarity of visible light images, multimodal image processing and multi-angle image stitching technology are adopted, and the infrared and visible light camera systems are integrated on the drone system platform to take multi-angle photos of the oil spill burning area. The area of ​​the oil spill burning area is calculated through image processing.

[0051] Based on the above technical principles, the present invention designs a method and device that can realize the real-time detection of the on-site burning rate of offshore oil spills, as follows Figure 1 As shown. The underwater robot platform system 1 integrates ultrasonic measurement equipment and moves to the bottom of the oil spill burning area 4 through cable control, transmits and receives ultrasonic waves through the ultrasonic probe 5, and transmits the ultrasonic signal back to the mother ship computer 3 through the cable in real time for storage and signal processing. The aerial drone platform 2 integrates visible and infrared multi-modal optical camera systems to shoot the oil spill burning area from multiple angles, and transmits the image data back to the mother ship computer 3 at high speed through the wireless network for storage and image processing.

[0052] Figure 2The underwater robot platform system 1 is shown as an integrated ultrasonic device 6, an underwater positioning device 7, and an oil layer temperature sensor 10, which detects the thickness of the surface burning oil layer in real time from below the oil layer. The underwater robot platform system 1 can adopt two observation modes: fixed-point fine in-situ measurement and regional scanning measurement. The ultrasonic signal collected by the ultrasonic device 6 and the underwater robot position information are transmitted back to the mother ship computer 3 through the controller 8 of the underwater robot using a cable 9 to store and process the ultrasonic signal.

[0053] The ultrasonic device 6 contains at least one channel, each of which can be used for transmission or reception alone, or for transmission and reception at the same time. Each channel is connected to an ultrasonic probe 5, and the ultrasonic probe 5 can adopt probes of various types and various frequency ranges. As a preferred embodiment of the device, the ultrasonic transmitter and receiver adopts a self-developed 2-channel ultrasonic instrument with an operating frequency range of 1.0MHz to 25MHz. Each channel is connected to an ultrasonic probe, which is arranged at the front and rear ends of the underwater robot respectively, and transmits and receives ultrasonic waves at the same time. The ultrasonic probe adopts an immersion non-focused ultrasonic probe produced by Olympus Corporation of Japan, and the center frequencies of the probes are 2.25MHz and 5.0MHz respectively.

[0054] The underwater positioning device 7 adopts inertial navigation or ultra-short baseline navigation to transmit the position information of the underwater robot to the mother ship computer 3 in real time through the underwater robot controller 8 and cable 9, so as to realize high-precision in-situ control and positioning of the underwater robot near the water surface, as well as high-precision sideline track tracking control in the near-surface area.

[0055] The underwater robot controller 8, this control system can not only accurately control the position, depth, posture, movement direction and movement trajectory of the underwater robot in the water, but also control the parameters of the ultrasonic device 6, and can transmit the received ultrasonic signal and the position information of the underwater robot 1 back to the mother ship computer 3 through the cable 9.

[0056] The oil layer temperature sensor 10 can realize the real-time measurement of the oil layer temperature, and transmit the temperature data to the mother ship computer 3 in real time, and perform real-time correction and compensation on the ultrasonic propagation velocity through the sound velocity compensation module.

[0057] The mother ship computer includes a control background and a data visualization integrated display interface. The control background calculates the real-time state parameters of the oil spill combustion based on the ultrasonic, temperature and position signals it receives, and accurately locates the oil spill combustion point and accurately measures the oil spill combustion area based on the multi-modal optical images it collects; the data visualization integrated display interface is used to synchronously visualize the real-time state parameters of the oil spill combustion in the image. The control background is equipped with the following program modules:

[0058] The data acquisition module is used to collect ultrasonic, temperature and position signals sent back by the underwater robot platform system and the aerial drone platform system, as well as multi-modal original images of the oil spill area and the burning area;

[0059] The image processing module performs image fusion and splicing on the collected multi-modal optical images, locates the oil spill burning point and the oil spill burning area, and synchronously visualizes the real-time status parameters of the oil spill burning in the image;

[0060] The sound velocity compensation module is used to make real-time correction and compensation for the propagation velocity v of the ultrasonic wave in the oil spill layer according to the relationship between the oil layer temperature gradient and the sound velocity;

[0061] An ultrasonic signal analysis and calculation module is used to calculate the real-time state parameters of the oil spill combustion; it is installed on the surface mother ship computer 3, and can at least realize high-speed storage of the received ultrasonic signals, and analyze and process the collected signals through the signal processing algorithm; as a preferred embodiment of the system, the signal processing method includes adopting the peak-to-peak method and the quadratic correlation method, and realizes the accurate measurement of the propagation time of the ultrasonic wave in the oil layer through the analysis and processing of the ultrasonic signal, and realizes the accurate calculation of the oil layer thickness by using the oil layer thickness calculation formula;

[0062] The visualization composition module can visualize and display the ultrasonic signal, oil layer thickness, and underwater robot position information in the image in real time.

[0063] Figure 3 The figure shows a preferred embodiment of the present invention, a sonar image formed by ultrasonic signals collected in a small-scale oil spill combustion experiment conducted in a laboratory, using an immersion ultrasonic probe with a center frequency of 2.25MHz, and the initial thickness of the oil layer before combustion is about 10mm. Each frame represents an ultrasonic signal as shown in the figure below, and each ultrasonic signal includes an ultrasonic signal 11 reflected from the lower surface of the oil layer and the water interface, an ultrasonic signal 12 reflected from the upper surface of the oil layer and the air interface, and a secondary reflection signal 13 of the ultrasonic wave in the oil layer, and the corresponding time points are t1, t2 and t3 respectively. The ultrasonic signal processing system processes the collected ultrasonic signals and calculates the propagation time Δt of the ultrasonic wave in the oil layer. The signal processing algorithms used include the peak-to-peak method and the quadratic correlation method.

[0064] The peak-to-peak method calculates the difference between the time points corresponding to two adjacent signal peaks to obtain the propagation time Δt of the ultrasonic wave in the oil layer for one round trip, Δt = t2-t1 or Δt = t3-t2. In the actual test process, due to the attenuation of the ultrasonic signal and the fluctuation of the surface of the burning oil layer, the secondary reflection signal 12 is often difficult to measure. Therefore, the time points t1 and t2 corresponding to the peak values ​​of the reflection signals on the upper and lower surfaces of the oil layer are generally used to calculate the propagation time Δt of the ultrasonic wave in the oil layer.

[0065] Compared with the peak-to-peak method, the quadratic correlation method can effectively overcome the problem of reduced measurement accuracy caused by peak phase shift. First, an autocorrelation operation is performed on the ultrasonic reflection signal 11 on the lower surface of the oil layer, and then a cross-correlation operation is performed on the ultrasonic reflection signal 11 on the lower surface and the ultrasonic reflection signal 12 on the upper surface. Finally, a secondary cross-correlation operation is performed on the autocorrelation signal and the primary cross-correlation signal, and the time point corresponding to the peak value of the secondary cross-correlation signal is the propagation time Δt of the ultrasonic wave in the oil layer. The calculation formula for the thickness of the oil layer during the oil spill combustion process is d=v(T)·(t2-t1) / 2=v(T)·(t3-t2) / 2, where v(T) is the propagation speed of the ultrasonic wave in the surface burning oil layer, and T is the average temperature of the oil layer. The relationship between the propagation speed v and the temperature T is measured experimentally, and the sound speed is compensated according to the change of the oil layer temperature during the oil spill combustion process.

[0066] Figure 4 The figure shows a schematic diagram of a multi-modal image fusion and multi-angle image stitching algorithm. Taking advantage of the fact that infrared images are not easily obstructed by bad weather and smoke, and that visible light images have high spatial resolution and clarity, the aerial drone platform system 2 integrates a visible and infrared multi-modal optical camera system to shoot the oil spill burning area from multiple angles, and the captured images are transmitted back to the mother ship computer 3 at high speed through a wireless network for storage. Infrared thermal images can be used to distinguish the burning area from the seawater background based on radiation differences, are not easily disturbed by bad weather and light, and have the characteristics of visible light images being consistent with the human visual system. Based on image registration, automatic perspective conversion image processing technology, and a multi-modal hybrid optical image fusion model based on deep learning, infrared and visible light images are subjected to multi-modal image data fusion, and smoke obstruction is overcome through complementary advantages to achieve accurate determination of the oil spill burning area. In order to solve the problem that a single image cannot capture the oil spill burning area in an all-round manner, the present invention uses a multi-angle image stitching algorithm based on a feature reconstruction method, including an unsupervised image stitching method of multiple algorithms such as feature point reconstruction, feature point detection, mapping estimation, matching alignment, and projection transformation, to align multiple spatially overlapping images to form a seamless high-definition image with higher resolution and a larger field of view. It solves the problems of geometric distortion, blur, low resolution, image differences, and registration errors in image stitching, and realizes the contour drawing of the oil spill burning area and the accurate calculation of the burning area.

[0067] Figure 5The figure shows a schematic diagram of a visual integrated display system that combines the thickness of the oil layer and the area of ​​the oil spill burning area to achieve real-time detection of key data such as the oil spill burning rate, the amount of oil disposed, and the efficiency of the disposal. The underwater robot is equipped with an ultrasonic measuring device to scan the thickness of the oil layer in the oil spill coverage area surrounded by the oil boom. The ultrasonic signal processing system processes the ultrasonic signal to obtain the distribution of the oil layer thickness, and the underwater positioning system records the position of the underwater robot. The instantaneous rate of oil spill burning is calculated based on the change in oil layer thickness. The aerial drone is equipped with a multi-modal optical camera system to shoot the oil spill coverage area from multiple angles. The oil spill burning point is detected through an image processing algorithm, the outline of the oil spill burning area is determined, the area of ​​the oil spill burning area is calculated, and the amount of oil spill burning disposed is obtained by combining the area of ​​the oil spill burning area with the oil spill burning rate.

[0068] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A real-time detection device for on-site combustion disposal rate of marine oil spills, characterized in that: Through the cooperation of underwater robot platform system and aerial drone platform system, the oil spill status of the on-site burning area of ​​offshore oil spill is detected, and the on-site burning disposal rate of oil spill is calculated; including: The underwater robot platform system is installed on the underwater robot body, including the underwater robot controller and the ultrasonic equipment, underwater positioning equipment, and oil layer temperature sensor respectively connected thereto; it is used to collect ultrasonic signals, temperature signals, and position signals when the underwater robot travels below the oil spill accident area, and transmit them back to the mother ship computer through the underwater robot cable; The aerial drone platform system is installed on the aerial drone body and is equipped with a visible light and infrared light multi-modal optical shooting camera. It is used to take multi-angle and all-round photos when the aerial drone flies over the oil spill burning area, and transmit the captured images to the mother ship computer in real time through a wireless link; The mother ship computer includes a control background and a data visualization integrated display interface. The control background calculates the real-time status parameters of the oil spill combustion according to the ultrasonic, temperature and position signals it receives, and accurately locates the oil spill combustion point and accurately measures the oil spill combustion area based on the multi-modal optical images it collects; the data visualization integrated display interface is used to synchronously visualize the real-time status parameters of the oil spill combustion in the image.

2. A real-time detection device for on-site combustion disposal rate of marine oil spills according to claim 1, characterized in that: The ultrasonic acquisition device includes at least one ultrasonic signal transceiver and a plurality of high-frequency ultrasonic probes, which are used to transmit multi-channel ultrasonic signals and receive a plurality of ultrasonic signals reflected from the upper and lower surfaces of the oil layer.

3. A real-time detection device for on-site combustion disposal rate of marine oil spill according to claim 1, characterized in that: The underwater positioning device is used to record the position information and motion trajectory of the underwater robot, and transmit it back to the mother ship computer for real-time display.

4. A real-time detection device for on-site combustion disposal rate of marine oil spill according to claim 1, characterized in that: The control background is provided with the following program modules: The data acquisition module is used to collect ultrasonic, temperature and position signals sent back by the underwater robot platform system and the aerial drone platform system, as well as multi-modal original images of the oil spill area and the burning area; The image processing module performs image fusion and splicing on the collected multi-modal optical images, locates the oil spill burning point and the oil spill burning area, and synchronously visualizes the real-time status parameters of the oil spill burning in the image; The sound velocity compensation module is used to make real-time correction and compensation for the propagation velocity v of the ultrasonic wave in the oil spill layer according to the relationship between the oil layer temperature gradient and the sound velocity; Ultrasonic signal analysis and calculation module, used to calculate the real-time state parameters of oil spill combustion; The visualization composition module is used to integrate the real-time state parameter calculation results of the oil spill combustion and the positioning and measurement results of the oil spill combustion area into the image.

5. A real-time detection device for on-site combustion disposal rate of marine oil spill according to claim 1 or 4, characterized in that: The real-time state parameters of the oil spill combustion include the precise propagation time of the ultrasonic wave in the oil layer, the ultrasonic wave propagation velocity v correction compensation value, the real-time oil layer thickness of the oil spill combustion, the oil spill combustion rate and the amount of oil disposed.

6. A real-time detection device for on-site combustion disposal rate of marine oil spills according to claim 5, characterized in that: The oil spill combustion calculation module is used to perform long-term positioning detection on the change of oil layer thickness at a certain position point, and to perform a comprehensive scan of the oil layer thickness distribution in the entire oil spill combustion area.

7. A real-time detection device for on-site combustion disposal rate of marine oil spills according to claim 5, characterized in that: The propagation time Δt of ultrasonic wave in oil layer is calculated by using peak-to-peak method and quadratic correlation method.

8. A real-time detection method for the burning rate of offshore oil spills, characterized in that: The following steps are involved: When the underwater robot and the aerial drone discover an oil spill accident at sea during the patrol mission, the location information is synchronized to the mother ship computer, which issues an oil spill detection command to the underwater robot platform system and the aerial drone platform system, which cooperate to collect signals and images and transmit them back to the mother ship computer; In the mother ship's computer, the various program modules in the control background cooperate with each other to calculate the real-time status parameters of the oil spill combustion based on the ultrasonic, temperature and position signals they receive, and accurately locate the oil spill combustion point and accurately measure the oil spill combustion area based on the multimodal optical images they collect; the real-time status parameters of the oil spill combustion are synchronously visualized in the image.

9. A method for real-time detection of marine oil spill combustion disposal rate according to claim 8, characterized in that: The underwater robot platform system and the aerial drone platform system cooperate to collect signals and images, including: In the underwater robot platform system, the underwater robot controller outputs instructions to control the ultrasonic device to transmit ultrasonic signals to the oil spill layer, and respectively collect ultrasonic echo signals reflected from the upper and lower surfaces of the oil spill layer; control the underwater positioning device to collect position information in real time; control the oil layer temperature sensor to collect the oil layer temperature in real time; In the aerial drone platform system, visible light and infrared light multi-modal optical shooting cameras are controlled separately to take multi-angle and all-round photos of the oil spill burning area to obtain multi-modal image data.

10. A method for real-time detection of marine oil spill combustion disposal rate according to claim 8, characterized in that: The image processing module in the control background accurately locates the oil spill burning point and accurately measures the oil spill burning area based on the collected multi-modal optical images, including: Infrared cameras are used to collect thermal radiation images to avoid blurring of visible light images caused by smoke during oil spill combustion. The oil spill combustion point and the combustion area can be accurately located based on the temperature radiation information of the thermal radiation image. The detection results of the thermal radiation image are integrated into the visible light image for accurate display, and dynamic splicing and full coverage detection of the combustion area are achieved.

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