A method and device for real-time detection of the disposal rate of in-situ combustion of marine oil spills

Abstract

The application discloses a kind of offshore oil spill in situ combustion rate real-time detection method and device, device includes underwater robot platform system, air unmanned aerial vehicle platform system and mother ship computer, the present method is realized to the oil layer thickness, combustion rate real-time detection in the process of oil spill combustion by emitting and collecting ultrasonic echo signal from below oil layer;By visible light, infrared multimodal optical camera system, the area of oil spill combustion area is calculated using optical image processing algorithm, the real-time measurement of key information such as combustion rate, disposal oil volume is realized by combining the two. The present application solves the technical problem that the prior art cannot detect the combustion rate in real time, provides technical support for oil spill site disposal personnel to control the disposal process, improve the disposal rate and evaluate the disposal effect.

Description

Technical Field

[0001] This invention belongs to the field of marine oil spill disposal and detection, and specifically relates to a method and apparatus for real-time detection of combustion rate, disposal volume, and disposal efficiency during the on-site combustion of marine oil spills, based on underwater robots and aerial drones as platforms and ultrasonic detection technology and image processing technology. Background Technology

[0002] With the increasing exploitation of deep-sea oil and gas resources and the growing reliance on offshore crude oil transportation, my country faces a growing risk of marine oil spills year by year. Marine oil spills not only cause severe economic losses but also inflict irreparable damage on marine resources and the marine ecosystem, becoming a significant factor endangering the marine environment.

[0003] Methods for handling marine oil spills include oil absorption, mechanical recovery, chemical dispersion, and in-situ burning. In-situ burning, in particular, offers advantages such as simplicity, speed, efficiency, and low cost, and has proven to be an effective means of rapidly eliminating marine oil spills in recent years. In the process of in-situ burning, two tugboats typically use oil booms to collect the oil spill to a thickness sufficient for ignition (>2 mm), then ignite it. During combustion, the booms must be continuously moved to maintain the oil layer thickness above the minimum flammable thickness to ensure continuous combustion. Real-time monitoring of key information such as oil layer thickness and burning rate during in-situ burning not only helps on-site personnel understand and control the entire combustion process, improving efficiency, but also provides crucial data for assessing the environmental hazards and economic losses caused by the oil spill.

[0004] Currently, the measurement of the combustion rate during on-site burning of marine oil spills mainly relies on laboratory experience data. This involves manually capturing images of the burning area and combining them with a boom nomogram to roughly estimate the area of ​​the burning region, and then combining these two methods to roughly estimate the amount of oil disposed of during the combustion process. However, the on-site combustion rate of oil spills dynamically changes with the combustion process and oil layer thickness. Manually estimating the area of ​​the burning region using boom nomograms is inaccurate and inefficient, making it impossible to achieve real-time and accurate measurement of the amount of oil disposed of during the combustion process. Therefore, developing a method and device for real-time detection of the combustion rate during on-site burning of marine oil spills is a significant need in this field. Summary of the Invention

[0005] Based on the defects and shortcomings of existing detection technologies, this invention provides a method and apparatus for real-time detection of key information such as oil layer thickness and combustion rate during the on-site combustion of marine oil spills, based on underwater robots and aerial unmanned aerial vehicle platforms and utilizing ultrasonic detection technology and image processing technology.

[0006] The technical solution adopted by the present invention to achieve the above objectives is as follows:

[0007] A real-time detection device for on-site oil spill combustion control rate at sea, which uses an underwater robot platform system and an aerial unmanned aerial vehicle platform system in coordination to detect the oil spill status in the on-site oil spill combustion area and calculate the on-site oil spill combustion control rate; including:

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

[0009] The aerial drone platform system is located on the aerial drone itself and is equipped with a multi-modal optical camera that captures visible light and infrared light. When the aerial drone flies over the oil spill and burning area, it can take pictures from multiple angles and all directions and transmit the captured images back to the mother ship's computer in real time via a wireless link.

[0010] The mother ship's computer includes a control backend and a data visualization integrated display interface. The control backend calculates real-time oil spill combustion status parameters based on the received ultrasonic, temperature, and position signals, and performs precise positioning of the oil spill combustion point and precise measurement of the oil spill combustion area using the multimodal optical images it collects. The data visualization integrated display interface is used to synchronously visualize and display the real-time oil spill combustion status parameters in the images.

[0011] The ultrasonic acquisition device includes at least one ultrasonic transceiver and multiple high-frequency ultrasonic probes for transmitting multiple ultrasonic signals and receiving multiple 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 movement trajectory of the underwater robot and transmit them back to the mother ship's computer for real-time display.

[0013] The control backend has the following program modules:

[0014] The data acquisition module is used to acquire ultrasonic, temperature and position signals transmitted back by the underwater robot platform system and the aerial unmanned aerial vehicle platform system, as well as multimodal raw images of the oil spill area and the combustion area;

[0015] The image processing module performs image fusion and stitching on the acquired multimodal optical images, locates the oil spill combustion point and oil spill combustion area, and synchronously visualizes the real-time status parameters of the oil spill combustion in the images;

[0016] The sound velocity compensation module is used to correct and compensate the propagation speed v of ultrasonic waves in the oil spill layer in real time based on the relationship between the oil layer temperature gradient and the sound velocity.

[0017] The ultrasonic signal analysis and calculation module is used to calculate the real-time status parameters of oil spill combustion.

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

[0019] The real-time status parameters of the oil spill combustion include the precise propagation time of ultrasound in the oil layer, the correction compensation value of ultrasound propagation speed v, the real-time oil layer thickness during oil spill combustion, the oil spill combustion rate, and the amount of oil disposed of.

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

[0021] The propagation time Δt of ultrasound in the oil layer was calculated using the peak-to-peak method and the quadratic correlation method.

[0022] A method for real-time detection of the rate of response to marine oil spills and fires includes the following steps:

[0023] When underwater robots and aerial drones discover an oil spill at sea during patrol missions, they synchronize their location information to the mother ship's computer, which then issues oil spill detection commands to the underwater robot platform system and the aerial drone platform system. They work together to collect signals and images and transmit them back to the mother ship's computer.

[0024] In the mother ship's computer, the various program modules in the control backend work together to calculate the real-time status parameters of the oil spill combustion based on the ultrasonic, temperature, and position signals it receives. They also perform precise location of the oil spill combustion point and precise measurement of the oil spill combustion area using the multimodal optical images they collect. The real-time status parameters of the oil spill combustion are then synchronously visualized and displayed in the images.

[0025] The underwater robot platform system and the aerial unmanned aerial vehicle platform system work together to acquire signals and images, including:

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

[0027] The aerial drone platform system controls visible light and infrared light multimodal optical cameras to capture images of the oil spill and combustion area from multiple angles and in all directions, acquiring multimodal image data.

[0028] The image processing module in the control backend performs precise positioning of the oil spill combustion point and precise measurement of the oil spill combustion area from the acquired multimodal 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 temperature radiation information in the thermal radiation images is used to accurately locate the oil spill combustion point and the combustion area. The detection results of the thermal radiation images are fused into the visible light images for accurate display, and dynamic stitching and full coverage detection of the combustion area are achieved.

[0030] Furthermore, the ultrasonic acquisition device operates at a frequency of 1MHz to 20MHz and employs sequential or simultaneous excitation / reception of multiple ultrasonic signals; the ultrasonic probe is a non-focused immersion ultrasonic probe with a working center frequency of 1.0MHz to 15MHz.

[0031] Furthermore, the calculation of real-time state parameters for 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 based on the peak times t2 and t1 of the ultrasonic signals 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 combustion process of the oil spill; the calculation formula is d=v(T)·Δt / 2, where v(T) is the propagation speed of ultrasonic waves in the oil spill layer, which depends on the average temperature T of the oil layer;

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

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

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

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

[0038] 2. This invention can not only detect changes in oil layer thickness at a single point during the on-site combustion of oil spills, but also quickly scan the combustion area of ​​the oil spill to obtain the oil layer thickness distribution and determine the location of the maximum oil layer thickness.

[0039] 3. This invention provides technical support for on-site personnel to precisely control the oil layer thickness and maintain a high-rate combustion of oil spills by measuring the oil layer thickness and combustion rate in real time during the on-site combustion process. This improves the oil spill response rate, reduces the cost of oil spill response, and mitigates the harm of oil spills to the marine environment.

[0040] 4. This invention can overcome the obstruction of dense smoke during oil spill combustion to achieve accurate measurement of the area of ​​the oil spill combustion zone, and combined with the oil spill combustion rate, achieve real-time accurate measurement of the amount of oil disposed of during oil spill combustion and the efficiency of oil spill combustion disposal.

[0041] 5. This invention overcomes the shortcomings of existing detection methods and technologies that cannot achieve real-time detection of the on-site combustion process of oil spills, and provides technical support for on-site personnel to formulate disposal plans, monitor the oil spill combustion disposal process, and improve the oil spill disposal rate. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the device described in this invention, which is based on an underwater robot and an aerial drone platform and can achieve real-time detection of the combustion rate during the on-site combustion of oil spills.

[0043] Figure 2 A schematic diagram illustrating the integration of an ultrasonic measurement system and an underwater positioning system into an underwater robot platform system to detect the thickness of the oil layer in the oil spill combustion area;

[0044] Figure 3 These are sonar images of ultrasonic signals collected during the oil spill combustion process.

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

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

[0047] In the diagram: 1. Cable-controlled underwater robot platform system; 2. Aerial unmanned aerial vehicle platform system; 3. Mothership computer; 4. Oil spill floating on the water surface and burning; 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 waves in the oil layer. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0049] Due to the different acoustic impedances of ultrasound in oil, water, and air, when ultrasound is transmitted to the interface between oil and water, and between oil and air, some energy will be reflected back due to the difference in acoustic impedance. By calculating the time difference between 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 this by the propagation speed of ultrasound in the oil layer gives the thickness of the oil layer. By calculating the change in oil layer thickness per unit time during the on-site combustion of spilled oil, the combustion rate can be detected in real time.

[0050] Taking advantage of the advantages of infrared images being less susceptible to severe weather and smoke obstruction, and the high spatial resolution and clarity of visible light images, multimodal image processing and multi-angle image stitching technologies are employed. By integrating infrared and visible light camera systems into a UAV system platform, the oil spill and fire area is captured from multiple angles. The area of ​​the oil spill and fire area is calculated through image processing.

[0051] Based on the above technical principles, this invention designs a method and device for real-time detection of the on-site combustion rate of marine oil spills, as follows: Figure 1 As shown. The underwater robot platform system 1 integrates ultrasonic measuring equipment, which moves to the area below the oil spill and fire zone 4 via cable control. It emits and receives ultrasonic waves through ultrasonic probe 5, and transmits the ultrasonic signals back to the mother ship's computer 3 in real time via cable for storage and signal processing. The aerial drone platform 2 integrates a visible and infrared multimodal optical camera system to capture images of the oil spill and fire zone from multiple angles. The image data is transmitted back to the mother ship's computer 3 at high speed via wireless network for storage and image processing.

[0052] Figure 2The underwater robot platform system 1, shown, integrates an ultrasonic device 6, an underwater positioning device 7, and an oil layer temperature sensor 10, enabling real-time detection of the thickness of the surface-burning oil layer from below. The underwater robot platform system 1 can employ two observation modes: precise in-situ measurement at fixed points and area scanning measurement. The ultrasonic signals collected by the ultrasonic device 6 and the underwater robot's position information are transmitted back to the mother ship's computer 3 via cable 9 through the underwater robot's controller 8 for storage and processing.

[0053] The ultrasonic device 6 contains at least one channel, each channel can be used individually for transmitting or receiving, or for both simultaneously. Each channel is connected to an ultrasonic probe 5, which can be of various types and frequency ranges. In a preferred embodiment, the ultrasonic transmitter and receiver employ a self-developed two-channel ultrasonic transducer with a working frequency range of 1.0MHz to 25MHz. Each channel is connected to an ultrasonic probe, which is positioned at the front and rear ends of the underwater robot, respectively, to simultaneously transmit and receive ultrasonic waves. The ultrasonic probes are water-immersed non-focused ultrasonic probes manufactured by Olympus Corporation of Japan, with center frequencies of 2.25MHz and 5.0MHz, respectively.

[0054] The underwater positioning device 7 uses inertial navigation or ultra-short baseline navigation to transmit the underwater robot's position information back to the mother ship's computer 3 in real time via the underwater robot controller 8 and cable 9. This enables high-precision in-situ control and positioning of the underwater robot near the water surface, as well as high-precision lateral line tracking control in the near-water surface area.

[0055] The underwater robot controller 8 can not only precisely control the underwater robot's position, depth, attitude, direction of movement, and trajectory in the water, but also control the parameters of the ultrasonic device 6, and transmit the received ultrasonic signals and the position information of the underwater robot 1 back to the mother ship computer 3 via cable 9.

[0056] The oil layer temperature sensor 10 can measure the oil layer temperature in real time and transmit the temperature data back to the mother ship computer 3 in real time. The ultrasonic propagation speed is corrected and compensated in real time through the sound speed compensation module.

[0057] The mothership's computer includes a control backend and a comprehensive data visualization display interface. The control backend calculates real-time oil spill combustion status parameters based on received ultrasonic, temperature, and position signals, and performs precise location of the oil spill combustion point and accurate measurement of the oil spill combustion area using acquired multimodal optical images. The comprehensive data visualization display interface synchronously displays the real-time oil spill combustion status parameters in the images. The control backend has the following program modules:

[0058] The data acquisition module is used to acquire ultrasonic, temperature and position signals transmitted back by the underwater robot platform system and the aerial unmanned aerial vehicle platform system, as well as multimodal raw images of the oil spill area and the combustion area;

[0059] The image processing module performs image fusion and stitching on the acquired multimodal optical images, locates the oil spill combustion point and oil spill combustion area, and synchronously visualizes the real-time status parameters of the oil spill combustion in the images;

[0060] The sound velocity compensation module is used to correct and compensate the propagation speed v of ultrasonic waves in the oil spill layer in real time based on the relationship between the oil layer temperature gradient and the sound velocity.

[0061] An ultrasonic signal analysis and calculation module is used to calculate real-time state parameters of oil spill combustion. Installed on the surface mother ship's computer 3, it can at least achieve high-speed storage of received ultrasonic signals and analyze and process the collected signals using signal processing algorithms. As a preferred embodiment of the system, the signal processing method includes the use of peak-to-peak value analysis and quadratic correlation methods. Through the analysis and processing of ultrasonic signals, it achieves accurate measurement of the propagation time of ultrasonic waves in the oil layer and uses an oil layer thickness calculation formula to achieve accurate calculation of the oil layer thickness.

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

[0063] Figure 3 The illustration shows a preferred embodiment of the present invention. The sonar image is formed from ultrasonic signals collected during a small-scale oil spill combustion experiment conducted in the laboratory. A water-immersed ultrasonic probe with a center frequency of 2.25 MHz was used. The initial thickness of the oil layer before combustion was approximately 10 mm. Each frame represents one ultrasonic signal as shown in the figure below. Each ultrasonic signal includes an ultrasonic signal 11 reflected from the lower surface of the oil layer at the water interface, an ultrasonic signal 12 reflected from the upper surface of the oil layer at the air interface, and a secondary reflection signal 13 of the ultrasonic wave within the oil layer. The corresponding time points are t1, t2, and t3, respectively. The ultrasonic signal processing system processes the collected ultrasonic signals to calculate 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 round-trip propagation time Δt of the ultrasonic wave in the oil layer by measuring the difference between the time points corresponding to the peak values ​​of two adjacent signals, where Δt = t2 - t1 or Δt = t3 - t2. In actual testing, due to ultrasonic signal attenuation and surface fluctuations caused by burning oil, the secondary reflection signal 12 is often difficult to measure. Therefore, the time points t1 and t2 corresponding to the peak values ​​of the reflected signals from the upper and lower surfaces of the oil layer are generally used to calculate the ultrasonic wave propagation time Δt in the oil layer.

[0065] Compared to the peak-to-peak method, the quadratic correlation method effectively overcomes the problem of reduced measurement accuracy caused by peak phase shift. First, an autocorrelation operation is performed on the ultrasonic reflection signal 11 from the lower surface of the oil layer. Then, a first cross-correlation operation is performed between the ultrasonic reflection signal 11 from the lower surface and the ultrasonic reflection signal 12 from the upper surface. Finally, a quadratic cross-correlation operation is performed on the autocorrelation signal and the first cross-correlation signal. The time point corresponding to the peak value of the obtained quadratic cross-correlation signal is the round-trip propagation time Δt of the ultrasonic wave in the oil layer. The formula for calculating the oil layer thickness 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 oil layer burning on the surface, and T is the average temperature of the oil layer. The relationship between the propagation speed v and the temperature T is experimentally determined, and the sound speed is compensated for according to the change in oil layer temperature during the oil spill combustion process.

[0066] Figure 4 The diagram illustrates a multimodal image fusion and multi-angle image stitching algorithm. Leveraging the advantages of infrared images (unaffected by severe weather and smoke) and visible light images (high spatial resolution and clarity), the aerial drone platform system 2 integrates a visible and infrared multimodal optical camera system to capture images of the oil spill burning area from multiple angles. The captured images are then transmitted at high speed via wireless network to the mothership computer 3 for storage. Infrared thermal images can distinguish the burning area from the seawater background based on radiation differences and are unaffected by severe weather and lighting conditions. Visible light images, consistent with the human visual system, utilize image registration, automatic perspective switching image processing technology, and a deep learning-based multimodal hybrid optical image fusion model to fuse infrared and visible light images. This complementary approach overcomes smoke obstruction, enabling accurate identification of the oil spill burning area. To address the issue that a single image cannot capture the entire oil spill and burning area from all angles, this invention utilizes a multi-angle image stitching algorithm based on feature reconstruction methods. This unsupervised image stitching method incorporates multiple algorithms, including feature point reconstruction, feature point detection, mapping estimation, matching alignment, and projection transformation, to align multiple spatially overlapping images into a seamless, high-definition image with higher resolution and a wider field of view. This solves problems such as geometric distortion, blurring, low resolution, and differences between images and registration errors in image stitching, enabling accurate contour drawing of the oil spill and burning area and precise calculation of the burning area.

[0067] Figure 5The diagram illustrates a comprehensive visualization system that combines oil layer thickness and the area of ​​the oil spill burning zone to achieve real-time monitoring of key data such as oil spill burning rate, amount of oil disposed of, and disposal efficiency. An underwater robot equipped with ultrasonic measuring equipment scans the oil layer thickness within the oil spill area enclosed by the oil boom. The ultrasonic signal processing system processes the ultrasonic signals to obtain the oil layer thickness distribution, while an underwater positioning system records the robot's position. The instantaneous burning rate is calculated based on the changes in oil layer thickness. An aerial drone equipped with a multimodal optical camera system captures images of the oil spill area from multiple angles. Image processing algorithms detect burning points, determine the outline of the burning area, calculate the area, and combine the burning area with the burning rate to obtain the amount of oil disposed of.

[0068] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are 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 within the protection scope of the present invention.

Claims

1. A real-time detection device for the on-site burning rate of marine oil spills, characterized in that, By coordinating underwater robot platform systems and aerial drone platform systems, the oil spill status is monitored in the on-site burning area of ​​the marine oil spill, and the on-site oil spill disposal rate is calculated; including: The underwater robot platform system is located on the underwater robot body and includes an underwater robot controller and ultrasonic equipment, underwater positioning equipment, and oil layer temperature sensor connected to it respectively; it is used to collect ultrasonic signals, temperature signals, and position signals when the underwater robot travels to the area below the oil spill accident, and transmit them back to the mother ship computer through the underwater robot cable. The aerial drone platform system is located on the aerial drone itself and is equipped with a multi-modal optical camera that captures visible light and infrared light. When the aerial drone flies over the oil spill and burning area, it can take pictures from multiple angles and all directions and transmit the captured images back to the mother ship's computer in real time via a wireless link. The mothership computer includes a control backend and a data visualization integrated display interface. The control backend calculates real-time oil spill combustion status parameters based on received ultrasonic, temperature, and position signals, and performs precise location of the oil spill combustion point and precise measurement of the oil spill combustion area using acquired multimodal optical images. The data visualization integrated display interface is used to synchronously visualize and display the real-time oil spill combustion status parameters in the images. The control backend has the following program modules: The data acquisition module is used to acquire ultrasonic, temperature and position signals transmitted back by the underwater robot platform system and the aerial unmanned aerial vehicle platform system, as well as multimodal raw images of the oil spill area and the combustion area; The image processing module performs image fusion and stitching on the acquired multimodal optical images, locates the oil spill combustion point and oil spill combustion area, and synchronously visualizes the real-time status parameters of the oil spill combustion in the images; The sound velocity compensation module is used to calculate the propagation speed of ultrasonic waves in the oil spill layer based on the relationship between the oil layer temperature gradient and the sound velocity. Perform real-time correction and compensation; The ultrasonic signal analysis and calculation module is used to calculate real-time state parameters of oil spill combustion; these parameters include the precise propagation time of ultrasonic waves in the oil layer and the ultrasonic wave propagation speed. The system corrects the compensation value, the real-time oil layer thickness during oil spill combustion, the oil spill combustion rate, and the amount of oil disposed of. The ultrasonic signal analysis and calculation module includes: an ultrasonic time unit, an oil layer thickness calculation unit, an oil spill combustion rate calculation unit, and a disposal calculation unit, which calculates the real-time state parameters of the oil spill combustion. Specifically, the following applies: The ultrasonic time unit is used to determine the peak time of the ultrasonic signals reflected from the upper and lower surfaces of the combustion oil layer. and Calculate the precise propagation time of ultrasound waves in the oil reservoir. ; The oil layer thickness calculation unit is used to calculate the real-time oil layer thickness during the on-site combustion process of the oil spill; the calculation formula is as follows: ,in The speed at which ultrasound propagates in an oil spill depends on the average temperature of the oil layer. ; The oil spill combustion rate calculation unit calculates the change in oil layer thickness per unit time as the oil spill combustion rate. The disposal calculation unit is used to calculate the amount of oil disposed of and the disposal efficiency. The amount of oil disposed of is calculated by combining the oil layer thickness and the area of ​​the oil spill and combustion zone. The disposal efficiency is the amount of oil disposed of per unit time. The visualization and mapping module is used to integrate the real-time state parameter calculation results of oil spill combustion with the location and measurement results of the oil spill combustion area into the image.

2. The real-time detection device for on-site burning disposal rate of marine oil spills according to claim 1, characterized in that, The ultrasonic acquisition device includes at least one ultrasonic transceiver and multiple high-frequency ultrasonic probes for transmitting multiple ultrasonic signals and receiving multiple ultrasonic signals reflected from the upper and lower surfaces of the oil layer.

3. The real-time detection device for on-site burning disposal rate of marine oil spills according to claim 1, characterized in that, The underwater positioning device is used to record the position information and movement trajectory of the underwater robot and transmit them back to the mother ship's computer for real-time display.

4. The real-time detection device for on-site burning disposal rate of marine oil spills according to claim 1, characterized in that, The oil spill combustion rate calculation unit is used to perform long-term location detection of oil layer thickness changes at a certain location, and to conduct a comprehensive scan of the oil layer thickness distribution in the entire oil spill combustion area.

5. A real-time detection device for on-site burning rate of marine oil spills according to claim 1, characterized in that, Ultrasonic propagation time in oil layer The calculation employs the peak-to-peak method and the quadratic correlation method.

6. A method for real-time detection of the rate of response to marine oil spill combustion, characterized in that, Includes the following steps: When underwater robots and aerial drones discover an oil spill at sea during patrol missions, they synchronize their location information to the mother ship's computer, which then issues oil spill detection commands to the underwater robot platform system and the aerial drone platform system. They work together to collect signals and images and transmit them back to the mother ship's computer. In the mother ship's computer, the various program modules in the control backend work together to calculate the real-time status parameters of the oil spill combustion based on the ultrasonic, temperature, and position signals it receives. It also performs precise location of the oil spill combustion point and precise measurement of the oil spill combustion area from the multimodal optical images it collects. The real-time status parameters of the oil spill combustion are then synchronously visualized and displayed in the images. Ultrasonic timing calculations include: the peak time of the ultrasonic signals reflected from the upper and lower surfaces of the combustion oil layer. and Calculate the precise propagation time of ultrasound waves in the oil reservoir. ; The oil layer thickness calculation includes: calculating the real-time oil layer thickness during the on-site combustion process of the oil spill; the calculation formula is as follows: ,in The speed at which ultrasound propagates in an oil spill depends on the average temperature of the oil layer. ; The calculation of the oil spill combustion rate includes: calculating the change in oil layer thickness per unit time as the oil spill combustion rate; The disposal calculation includes: the amount of oil disposed of and the disposal efficiency; the amount of oil disposed of is the volume calculated by combining the oil layer thickness and the area of ​​the oil spill and combustion zone; the disposal efficiency is the amount of oil disposed of per unit time.

7. The method for real-time detection of marine oil spill combustion response rate according to claim 6, characterized in that, The underwater robot platform system and the aerial unmanned aerial vehicle platform system work together to acquire signals and images, including: In the underwater robot platform system, the underwater robot controller outputs commands to control the ultrasonic equipment to emit ultrasonic signals toward the oil spill layer and to collect the ultrasonic echo signals reflected from the upper and lower surfaces of the oil spill layer respectively; controls the underwater positioning equipment to collect position information in real time; and controls the oil layer temperature sensor to collect oil layer temperature in real time. The aerial drone platform system controls visible light and infrared light multimodal optical cameras to capture images of the oil spill and combustion area from multiple angles and in all directions, acquiring multimodal image data.

8. A method for real-time detection of marine oil spill combustion response rate according to claim 6, characterized in that, The image processing module in the control panel performs precise location of the oil spill combustion point and precise measurement of the oil spill combustion area from the acquired multimodal 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 temperature radiation information in the thermal radiation images is used to accurately locate the oil spill combustion point and the combustion area. The detection results of the thermal radiation images are fused into the visible light images for accurate display, and dynamic stitching and full coverage detection of the combustion area are achieved.

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