Shore-based offshore oil spill monitoring system based on ultrasonic waves

Abstract

The invention relates to the technical field of image recognition, in particular to a shore-based seaborne oil spill monitoring system based on ultrasonic waves, which comprises an ultrasonic transmitting device arranged on a mobile carrier and used for transmitting the ultrasonic waves to a target direction in a preset period; the ultrasonic receiving devices are used for receiving the ultrasonic echoes in the target direction and are arranged corresponding to the ultrasonic transmitting devices; and the signal processor triggers a corresponding echo processing mode according to the information of the ultrasonic echo. An ultrasonic monitoring array is formed by arranging the position-adjustable ultrasonic transceiving device, and the corresponding sea surface images are adjusted according to the corresponding periods of ultrasonic transmitting and receiving, so that the images acquired from the acquisition equipment in each period can be spliced, the stability of sea surface oil spill image acquisition is effectively improved, and the sea surface oil spill detection accuracy is improved. And the accuracy of ultrasonically collecting the oil spill picture is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of image recognition, and in particular to an ultrasonic-based shore-based offshore oil spill monitoring system. Background Art

[0002] Ultrasonic detection relies on echo signal analysis. It obtains ultrasonic echoes reflected by water and oil layers through receiving sensors, converts them into electronic signals, and performs data analysis after signal processing such as filtering and amplification to determine information such as the location and thickness of oil pollution. The application of modern signal processing technology enables ultrasonic detection systems to accurately extract effective signals in complex noise environments and improve detection accuracy and stability. Infrared spectroscopy oil pollution detection technology is similar to ultrasonic detection technology. Infrared spectroscopy detection is based on the absorption characteristics of different substances for light of specific wavelengths and is suitable for the detection of oil films on the water surface. Infrared technology can detect the thickness of oil films and the type of oil, but it is greatly affected by factors such as weather and lighting, and its performance decreases at night and in rain and fog. In contrast, ultrasonic technology performs better in all-weather and complex marine conditions and is suitable for detecting environments with poor visibility.

[0003] Chinese patent application publication number: CN119290841A discloses a non-contact coaxial long-distance surface oil spill monitoring method and device, the oil spill monitoring device includes an aircraft and a coaxial optical system arranged on the aircraft; the coaxial optical system includes a laser emitting mechanism, a telescope mechanism and a reflected signal receiving mechanism. The invention optimizes the optical system of oil spill monitoring, reduces its weight, facilitates aircraft to carry out long-distance monitoring, improves monitoring performance through automatic focusing, and ensures signal strength.

[0004] The application of infrared and laser sensing technologies in offshore oil spill monitoring has been relatively mature, but these two technologies are easily restricted by environmental conditions. Infrared technology relies on temperature differences or reflectivity differences to detect oil pollution. Because it is sensitive to environmental conditions, especially in rainy and foggy weather, it may affect the infrared signal and reduce the monitoring accuracy. Similarly, under conditions such as dense fog, clouds or precipitation, the transmission and reflection of the laser are more affected, resulting in signal attenuation or scattering, affecting the effectiveness of monitoring. Usually on the sea surface, the environment often changes, which will greatly reduce the accuracy of sea surface oil spill monitoring. This application uses ultrasound to monitor oil pollution, which can be more unaffected by the environment and can achieve all-weather monitoring. At the same time, by analyzing the reflected signal of the ultrasound, the thickness, position and even the approximate diffusion range of the oil film can be obtained, which helps to timely and accurately evaluate the spread of oil pollution. Summary of the invention

[0005] To this end, the present invention provides an ultrasonic-based shore-based offshore oil spill monitoring system to overcome the problem in the prior art that it is difficult to observe and collect images of the oil spill area in real time when affected by climate, making it difficult to collect oil spill images, thereby making it difficult to effectively detect the spread of oil pollution.

[0006] To achieve the above-mentioned object, the present invention provides a shore-based offshore oil spill monitoring system based on ultrasonic waves, which is composed of an ultrasonic monitoring array composed of a plurality of ultrasonic transceiver devices arranged on a mobile vehicle, and a single ultrasonic transceiver device includes: An ultrasonic transmitting device is arranged on the mobile vehicle and transmits ultrasonic waves in a target direction at a preset period; A plurality of ultrasonic receiving devices are provided corresponding to the ultrasonic transmitting devices to receive ultrasonic echoes in the target direction; A signal processor triggers a corresponding echo processing mode according to the information of the ultrasonic echo, including: a same-side response mode, for receiving the ultrasonic echo when the mobile vehicle is in a stationary state and forming corresponding same-side data; A rotation response mode, for receiving the ultrasonic echo when the mobile vehicle is in a patrol state, and forming corresponding rotation data; Wherein, for a single mobile vehicle, it moves to a preset target angle according to the preset period and stays for a time period corresponding to the preset period. If the ultrasonic echo is received during the stop, the signal processor determines that the mobile vehicle is in the stationary state; If the ultrasonic echo is received while the vehicle is moving, the signal processor determines that the vehicle is in the patrol state.

[0007] Furthermore, it also includes: A central console connected to each ultrasonic transceiver device for forming a corresponding oil spill detection image according to the same-side data and / or rotation data, and Determine the start or end of the oil spill event based on the number of responses from the ultrasonic transceiver; The oil spill detection image generates a fixed image based on the same-side data, and generates an offset image based on the rotation data.

[0008] Further, for a single oil spill incident, the central console is provided with a corresponding basic offset distance; For the ultrasonic echo determined as the rotation data, the central console moves the rotation data image by an integer multiple of the basic offset distance according to its corresponding position; The basic offset distance is related to the moving distance of the mobile vehicle in a single preset cycle.

[0009] Furthermore, the central control console is provided with a basic exploration threshold to respond to the occurrence of an oil spill; For a single ultrasonic transceiver, if the corresponding same-side data or rotation data includes oil spill information, the central control console determines that the ultrasonic transceiver enters the oil spill detection state; For any preset period, if the number of the ultrasonic transceiver devices entering the oil spill detection state reaches the basic exploration threshold, the central control station determines that an oil spill event occurs in the preset period.

[0010] Further, the central control console responds to the occurrence of the oil spill incident and issues an oil spill monitoring instruction; Each ultrasonic transceiver device stops moving in response to the oil spill monitoring instruction, and monitors the oil spill status according to the same-side response mode.

[0011] Furthermore, the single ultrasonic transceiver device further comprises: An ultrasonic tracker configured as a retractable bracket to support the ultrasonic transmitting device; The vehicle holder, which is composed of a plurality of hydraulic supports, is used to fix the mobile vehicle.

[0012] Furthermore, the ultrasonic transceiver device responds to the oil spill monitoring instruction, controls the vehicle fixer to fix the mobile vehicle, and adjusts it to a fixed state; The fixed state is that the chassis of the mobile vehicle is horizontal, or the mobile vehicle can be stably in a corresponding state of not more than a preset angle; The preset angle is related to the weight of the mobile vehicle.

[0013] Furthermore, the ultrasonic transceiver device responds to the oil spill monitoring instruction and controls the ultrasonic tracker to adjust the ultrasonic transmitting device to a preset horizontal height before transmitting ultrasonic waves and enter a fixed monitoring state.

[0014] Furthermore, for the single ultrasonic transceiver device, if its corresponding ultrasonic receiving device does not receive a signal in two consecutive preset cycles, the ultrasonic transceiver device controls the corresponding mobile vehicle to move towards the direction close to the sea surface.

[0015] Furthermore, the central console is also provided with a periodic coding stamp, and for a single preset period, the ultrasonic wave emitted by each ultrasonic emitting device carries the periodic coding stamp of the preset period; When generating the oil spill detection image, the central control station generates the oil spill detection image with the preset period according to the period code stamp.

[0016] Compared with the prior art, the beneficial effect of the present invention lies in that an ultrasonic monitoring array is formed by using an ultrasonic transceiver device with an adjustable position, and the corresponding sea surface image is adjusted according to the corresponding period of ultrasonic emission and reception, so that the images collected from each collection device in each period can be spliced ​​together, which effectively improves the stability of sea surface oil spill image collection and the accuracy of ultrasonic oil spill image collection.

[0017] Furthermore, by setting up a central control console, images of the same period are combined, and the collected images are used to form a real-time oil spill image, thereby effectively avoiding image errors caused by the collection process, thereby improving the accuracy of the picture and the robustness of the oil spill monitoring system.

[0018] Furthermore, by setting a basic exploration threshold, the monitoring response when an oil spill occurs is activated, and the ultrasonic transceiver devices are controlled to stop moving, thereby improving the ultrasonic acquisition accuracy of the oil spill image and avoiding errors caused by acquisition activities.

[0019] Furthermore, by setting up ultrasound with a periodic coding stamp, the central console can identify the period corresponding to the ultrasonic echo, thereby accurately starting oil spill monitoring and splicing oil spill images, effectively improving the timeliness of oil spill image monitoring while improving the accuracy of ultrasonic oil spill images. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of a single ultrasonic transceiver device of the present invention; Figure 2 is a schematic diagram of a target turning angle according to an embodiment of the present invention; Figure 3 A schematic diagram of cycle comparison of an embodiment of the present invention; Figure 4 It is a connection diagram of the ultrasonic shore-based offshore oil spill monitoring system of the present invention; Figure 5 Schematic diagram of the structure of an ultrasonic transceiver according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0023] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0024] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] See also Figure 1 As shown, it is a schematic diagram of the structure of a single ultrasonic transceiver of the present invention, which is an ultrasonic monitoring array composed of a plurality of ultrasonic transceivers arranged on a mobile carrier, and a single ultrasonic transceiver includes: An ultrasonic transmitting device is arranged on the mobile vehicle and transmits ultrasonic waves in a target direction at a preset period; A plurality of ultrasonic receiving devices are provided corresponding to the ultrasonic transmitting devices to receive ultrasonic echoes in the target direction; A signal processor triggers a corresponding echo processing mode according to information of the ultrasonic echo, including: The same-side response mode is used to receive ultrasonic echoes when the mobile vehicle is in a stationary state and form corresponding same-side data; A rotation response mode is used to receive ultrasonic echoes when the mobile vehicle is in a patrol state and form corresponding rotation data; An ultrasonic tracker configured as a retractable bracket to support the ultrasonic transmitting device; A vehicle fixture consisting of a number of hydraulic supports is used to fix a mobile vehicle.

[0026] For a single mobile vehicle, it moves to a preset target angle according to a preset period and stays for a time period corresponding to the preset period. If an ultrasonic echo is received while the mobile vehicle is stationary, the signal processor determines that the mobile vehicle is stationary; If an ultrasonic echo is received while moving, the signal processor determines that the vehicle is in a patrol state.

[0027] An ultrasonic monitoring array is formed by setting an ultrasonic transceiver with an adjustable position, and the corresponding sea surface image is adjusted according to the corresponding period of ultrasonic emission and reception, so that the images collected from each collection device in each period can be stitched together, which effectively improves the stability of sea surface oil spill image collection and the accuracy of ultrasonic oil spill images.

[0028] In particular, the target turning angle is the turning angle formed by a preset monitoring point as the reference. In practice, for targets at sea, when setting the target turning angle, reference should be made to the distance from the monitoring point to the land where safe navigation is possible. Please refer to Figure 2 As shown in , it is a schematic diagram of the target angle of an embodiment of the present invention. In the figure, for a preset monitoring point, 12 areas are divided with the monitoring point as the center, and each area is a target angle 1, a target angle 2, ..., a target angle 12; It should be noted that there are fewer lands in the directions of target corners 10, 11, and 12, and they are not marked in this figure to reduce the complexity of the diagram; Please continue reading Figure 2 As shown in the figure, the monitoring point is located on the ocean, mobile vehicle 1, mobile vehicle 2 and mobile vehicle 3 are located on land, and mobile vehicle 1 is located at target corner 7, mobile vehicle 2 is located at target corner 4, and mobile vehicle 3 is located at target corner 1.

[0029] Please cooperate Figure 2 See also Figure 3 As shown, it is a schematic diagram of period comparison of an embodiment of the present invention. Figure 3 express Figure 2 The position status of each mobile vehicle in the next cycle, as shown in the figure: The mobile vehicle 1 moves from the target corner 7 to the target corner 8; The mobile vehicle 2 moves from the target corner 4 to the target corner 5; The mobile vehicle 3 moves from the target corner 1 to the target corner 2; Obviously, relative to the monitoring point, the mobile vehicle 1, the mobile vehicle 2, and the mobile vehicle 3 all move a target angle clockwise, that is, they move a preset target angle; It should be noted that when the mobile vehicle moves, if the target corner is changed, the moving distance of the mobile vehicle is not unique, and it only needs to enter the corresponding target corner.

[0030] When the mobile vehicle moves, if a single mobile vehicle is located at the same target corner in two adjacent preset periods, such as mobile vehicle 1 is located at target corner 7 in the first preset period, and after one preset period, mobile vehicle 1 is located at target corner 7 in the second preset period, then the mobile vehicle is judged to be stationary.

[0031] See also Figure 4 As shown, it is a connection schematic diagram of the shore-based offshore oil spill monitoring system based on ultrasonic waves of the present invention, including: Ultrasonic monitoring array; A central console connected to each ultrasonic transceiver to form a corresponding oil spill detection image based on the same-side data and / or the rotation data, and Determine the start or end of the oil spill event based on the number of responses from the ultrasonic transceiver; Among them, the oil spill detection image generates a fixed image based on the same-side data, and generates an offset image based on the rotation data.

[0032] By setting up a central control console, images of the same period are combined, and the collected images are used to form a real-time oil spill image, thereby effectively avoiding image errors caused by the collection process, thereby improving the accuracy of the picture and the robustness of the oil spill monitoring system.

[0033] Specifically, for a single oil spill, the center console is provided with a corresponding basic offset distance; For ultrasonic echoes determined as rotation data, the central console moves the rotation data image by an integer multiple of the basic offset distance according to its corresponding position; The base offset distance is related to the distance the mobile vehicle moves in a single preset cycle.

[0034] In implementation, for a single mobile vehicle of a single oil spill incident, the image collected in the i-th cycle is Si, the basic offset distance is L, the data collected by the mobile vehicle in the i-th cycle is determined to be rotation data, and the impact collected in the i-th cycle is determined according to the moving distance Li of the mobile vehicle. If Li<L, it is determined that the image Si captured by the mobile vehicle is within the error range; If L≤Li<2L, it is determined that the image Si captured by the mobile vehicle is out of the error range, and the image corresponding to Si is translated by L in the direction of movement of the mobile vehicle; If 2L≤Li<3L, it is determined that the image Si captured by the mobile vehicle is out of the error range, and the image corresponding to Si is translated by 2L in the direction of movement of the mobile vehicle; And so on; Among them, i=1,2,3,…,n,n≥3.

[0035] Specifically, the central console has basic exploration thresholds to respond to oil spills; For a single ultrasonic transceiver, if its corresponding same-side data or rotation data includes oil spill information, the central control console determines that the ultrasonic transceiver enters the oil spill detection state; For any preset period, if the number of ultrasonic transceiver devices entering the oil spill detection state reaches the basic exploration threshold, the central control console determines that an oil spill has occurred in the preset period.

[0036] In implementation, different ultrasonic monitoring arrays can be set separately, such as: If the ultrasonic monitoring array includes 15 ultrasonic transceivers, and a single preset cycle is 30s, the central console is set with a basic offset distance of 10 meters, which is set based on the 50-meter moving distance of the mobile vehicle in a single preset cycle. For ultrasonic echoes determined to be rotation data, the central console will move the rotation data by an integer multiple of 10 meters according to its corresponding position. At the same time, the central console is set with a basic exploration threshold of 3, that is, for a single ultrasonic transceiver, if its corresponding same-side data or rotation data includes oil spill information, the central console determines that the ultrasonic transceiver enters the oil spill detection state; within a preset cycle, if the number of ultrasonic transceivers entering the oil spill detection state reaches 3, the central console determines that an oil spill has occurred in the preset cycle.

[0037] If the ultrasonic monitoring array includes 10 ultrasonic transceivers, and a single preset cycle is 20s, the basic offset distance of the central console is 8 meters, which is related to the 40-meter moving distance of the mobile vehicle in a single preset cycle. When the ultrasonic echo is determined to be rotating data, the central console will move the data in integer multiples of 8 meters according to its position. The basic exploration threshold of the central console is set to 2, that is, if a single ultrasonic transceiver detects oil spill information and enters the oil spill detection state, within a preset cycle, when 2 or more ultrasonic transceivers are in this state, the central console will determine that an oil spill has occurred in that cycle.

[0038] If the ultrasonic monitoring array includes 20 ultrasonic transceivers, and a single preset cycle is 60s, the basic offset distance of the central console is 15 meters, which is determined based on the moving distance of the mobile vehicle of 75 meters in a single preset cycle. For the ultrasonic echo of the rotating data, the central console will adjust the position of its image according to an integer multiple of 15 meters. The basic exploration threshold of the central console is 4, that is, when a single ultrasonic transceiver detects oil spill information and enters the oil spill detection state, within a preset cycle, if 4 ultrasonic transceivers are in this state, the central console will determine that an oil spill has occurred in the preset cycle.

[0039] In implementation, the denser the ultrasonic transceiver devices are arranged, the larger the corresponding preset period needs to be set, and the sparser the ultrasonic transceiver devices are arranged, the smaller the corresponding preset period needs to be set; The above density and sparseness have nothing to do with the number of ultrasonic transceiver devices in the ultrasonic monitoring array, but only with the distance between them. Preferably, the distance between every two ultrasonic transceiver devices can be set to 5 km.

[0040] Specifically, the central control console responds to the occurrence of an oil spill and issues an oil spill monitoring command; Each ultrasonic transceiver device stops moving in response to the oil spill monitoring instruction, and monitors the oil spill status in the same-side response mode.

[0041] By setting a basic exploration threshold, the monitoring response when an oil spill occurs is activated, and the ultrasonic transceiver devices are controlled to stop moving. This improves the ultrasonic acquisition accuracy of the oil spill image and avoids errors caused by acquisition activities.

[0042] Specifically, the ultrasonic transceiver device responds to the oil spill monitoring instruction, controls the vehicle fixer to fix the mobile vehicle, and adjusts it to a fixed state; The fixed state is that the chassis of the mobile vehicle is horizontal, or the mobile vehicle can be stably in a corresponding state of not more than a preset angle; The preset angle is related to the weight of the moving vehicle.

[0043] Specifically, the ultrasonic transceiver responds to the oil spill monitoring instruction and controls the ultrasonic tracker to adjust the ultrasonic transmitting device to a preset horizontal height before transmitting the ultrasonic wave and enter a fixed monitoring state.

[0044] Specifically, for a single ultrasonic transceiver, if its corresponding ultrasonic receiving device does not receive a signal in two consecutive preset cycles, the ultrasonic transceiver controls the corresponding mobile vehicle to move closer to the sea surface.

[0045] Specifically, the central console is also provided with a periodic coding stamp. For a single preset period, the ultrasonic wave emitted by each ultrasonic emitting device carries the periodic coding stamp of the preset period; When generating the oil spill detection image, the central control console generates the oil spill detection image of the preset period according to the period code stamp.

[0046] By setting up ultrasound with periodic coding stamps, the central console can identify the period corresponding to the ultrasonic echo, thereby accurately starting oil spill monitoring and splicing oil spill images. This effectively improves the timeliness of oil spill image monitoring while improving the accuracy of ultrasonic oil spill images.

[0047] See also Figure 5 As shown, it is a schematic diagram of the structure of an ultrasonic transceiver device according to an embodiment of the present invention, in which: The roof ultrasonic transmitter lifting platform is used to control the lifting height of the ultrasonic transmitter. The ultrasonic transmitter converts electrical signals into ultrasonic waves and transmits them to the target area. The adaptive signal adjustment module automatically adjusts the transmission signal parameters according to environmental changes and monitoring requirements.

[0048] The receiving sensor is used to receive ultrasonic signals reflected by the oil layer or other objects and convert them into electronic signals for processing. These received signals contain relevant information about the oil, such as thickness, concentration and distribution, for subsequent signal conditioning and processing module analysis.

[0049] The ultrasonic receiving device is responsible for receiving the reflected or echo signal of the ultrasonic wave and converting it into an electrical signal for subsequent analysis. The analog signal amplifier is used to amplify the received weak echo signal to a sufficient voltage or current level for subsequent signal processing and analysis.

[0050] Signal filters can eliminate noise, enhance oil spill echo signals, and improve the accuracy of signal detection.

[0051] The analog / digital signal conversion module is used to convert analog signals into digital signals and perform further digital processing.

[0052] The function of the oil spill information analysis module is to extract characteristic information related to oil spills, such as thickness, density, diffusion area, etc., from digital signal data.

[0053] The in-vehicle data receiving module further processes, stores and transmits the received data, providing basic data for subsequent analysis and decision-making. The oil film target measurement module is combined with the high-precision positioning module to superimpose the oil film information on the electronic map or real-time image, and display the results on the screen for easy observation. The real-time data display module can present the oil film detection data in a dynamic way through a graphical interface, so as to facilitate the rapid assessment of pollution conditions and emergency decision-making.

[0054] Ultrasonic oil pollution detection device can quickly detect oil spill information on the coastal sea surface in a mobile manner. And through ultrasound, it can detect the distance, thickness and location of the oil spill, so as to deal with the marine oil spill incident as quickly as possible.

[0055] The above-mentioned device is based on ultrasonic detection technology, which has unique propagation advantages in water environments and has higher detection accuracy than traditional infrared and laser detection. It can still work normally under conditions such as haze and at night, and can achieve all-weather monitoring.

[0056] Signal conditioning and filtering technology greatly reduces the need for manual intervention. The equipment can automatically adjust at different times and in different sea conditions, thereby saving manpower and operating costs, and further increasing the economic benefits of the device in actual operation.

[0057] Real-time data is displayed on the monitoring screen in the form of maps and graphics through visualization technology, which helps managers quickly identify key information such as pollution sources and polluted areas. The transparent and intuitive display of information can improve management efficiency.

[0058] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An ultrasonic shore-based offshore oil spill monitoring system, which is composed of an ultrasonic monitoring array consisting of a plurality of ultrasonic transceiver devices arranged on a mobile vehicle, characterized in that: A single ultrasonic transceiver device includes: An ultrasonic transmitting device is arranged on the mobile vehicle and transmits ultrasonic waves in a target direction at a preset period; A plurality of ultrasonic receiving devices are provided corresponding to the ultrasonic transmitting devices to receive ultrasonic echoes in the target direction; A signal processor triggers a corresponding echo processing mode according to the information of the ultrasonic echo, including: a same-side response mode, for receiving the ultrasonic echo when the mobile vehicle is in a stationary state and forming corresponding same-side data; A rotation response mode, for receiving the ultrasonic echo when the mobile vehicle is in a patrol state, and forming corresponding rotation data; Wherein, for a single mobile vehicle, it moves to a preset target angle according to the preset period and stays for a time period corresponding to the preset period. If the ultrasonic echo is received during the stop, the signal processor determines that the mobile vehicle is in the stationary state; If the ultrasonic echo is received while the vehicle is moving, the signal processor determines that the vehicle is in the patrol state.

2. The ultrasonic shore-based offshore oil spill monitoring system according to claim 1 is characterized in that: Also includes: A central console connected to each ultrasonic transceiver device for forming a corresponding oil spill detection image according to the same-side data and / or rotation data, and Determine the start or end of the oil spill event based on the number of responses from the ultrasonic transceiver; The oil spill detection image generates a fixed image based on the same-side data, and generates an offset image based on the rotation data.

3. The ultrasonic shore-based offshore oil spill monitoring system according to claim 2 is characterized in that: For a single oil spill incident, the central console is provided with a corresponding basic offset distance; For the ultrasonic echo determined as the rotation data, the central console moves the rotation data image by an integer multiple of the basic offset distance according to its corresponding position; The basic offset distance is related to the moving distance of the mobile vehicle in a single preset cycle.

4. The ultrasonic shore-based offshore oil spill monitoring system according to claim 2 is characterized in that: The central control console is provided with a basic exploration threshold to respond to the occurrence of an oil spill; For a single ultrasonic transceiver, if the corresponding same-side data or rotation data includes oil spill information, the central control console determines that the ultrasonic transceiver enters the oil spill detection state; For any preset period, if the number of the ultrasonic transceiver devices entering the oil spill detection state reaches the basic exploration threshold, the central control station determines that an oil spill event occurs in the preset period.

5. The ultrasonic shore-based offshore oil spill monitoring system according to claim 4 is characterized in that: The central control console responds to the occurrence of the oil spill incident and issues an oil spill monitoring instruction; Each ultrasonic transceiver device stops moving in response to the oil spill monitoring instruction, and monitors the oil spill status according to the same-side response mode.

6. The ultrasonic shore-based offshore oil spill monitoring system according to claim 3 or 5, characterized in that: The single ultrasonic transceiver device also includes: An ultrasonic tracker configured as a retractable bracket to support the ultrasonic transmitting device; The vehicle holder, which is composed of a plurality of hydraulic supports, is used to fix the mobile vehicle.

7. The ultrasonic shore-based offshore oil spill monitoring system according to claim 6 is characterized in that: The ultrasonic transceiver device responds to the oil spill monitoring instruction, controls the vehicle fixer to fix the mobile vehicle, and adjusts it to a fixed state; The fixed state is that the chassis of the mobile vehicle is horizontal, or the mobile vehicle can be stably in a corresponding state of not more than a preset angle; The preset angle is related to the weight of the mobile vehicle.

8. The ultrasonic shore-based offshore oil spill monitoring system according to claim 6 is characterized in that: The ultrasonic transceiver responds to the oil spill monitoring instruction and controls the ultrasonic tracker to adjust the ultrasonic transmitting device to a preset horizontal height before transmitting ultrasonic waves and enter a fixed monitoring state.

9. The ultrasonic shore-based offshore oil spill monitoring system according to claim 7 or 8, characterized in that: For the single ultrasonic transceiver, if its corresponding ultrasonic receiving device does not receive a signal in two consecutive preset cycles, the ultrasonic transceiver controls the corresponding mobile vehicle to move toward the direction close to the sea surface.

10. The ultrasonic shore-based offshore oil spill monitoring system according to claim 9, characterized in that: The central console is also provided with a periodic coding stamp. For a single preset period, the ultrasonic wave emitted by each ultrasonic emitting device carries the periodic coding stamp of the preset period; When generating the oil spill detection image, the central control station generates the oil spill detection image with the preset period according to the period code stamp.

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