An ultrasonic-based shore-based marine oil spill monitoring system

Abstract

The present invention relates to the technical field of image recognition, and particularly to a shore-based offshore oil spill monitoring system based on ultrasonic waves, comprising: an ultrasonic transmitting device arranged on a mobile vehicle to emit ultrasonic waves in a preset period towards a target direction; a plurality of ultrasonic receiving devices corresponding to the ultrasonic transmitting device and receiving ultrasonic echoes from the target direction; and a signal processor that triggers a corresponding echo processing mode according to the information of the ultrasonic echoes. The present invention utilizes ultrasonic transceiver devices with adjustable positions to form an ultrasonic monitoring array, and adjusts the corresponding sea surface images according to the corresponding periods of ultrasonic wave emission and reception, so that the images collected from each acquisition device in each period can be stitched together, effectively improving the stability of sea surface oil spill image acquisition while improving the accuracy of ultrasonic acquisition of oil spill images.

Description

Technical Field

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

[0002] Ultrasonic detection relies on the analysis of echo signals. By receiving sensors to obtain ultrasonic echoes reflected by water bodies and oil layers, converting them into electrical signals, and performing 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, improving detection accuracy and stability. The infrared spectroscopy oil spill detection technology has similarities with ultrasonic detection technology. Infrared spectroscopy detection is based on the absorption characteristics of specific wavelength light by different substances and is suitable for the detection of oil films on the water surface. Infrared technology can detect the thickness of the oil film and the type of oil product, but is greatly affected by factors such as weather and light, and its performance deteriorates under night, rain, and fog conditions. 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 No.: CN119290841A discloses a non-contact coaxial long-distance water surface oil spill monitoring method and device. The oil spill monitoring device includes an aircraft and a coaxial optical system provided on the aircraft; the coaxial optical system includes a laser emission mechanism, a telescope mechanism, and a reflected signal receiving mechanism. This invention optimizes the optical system for oil spill monitoring, reducing its weight, facilitating the aircraft to carry out long-distance monitoring, improving monitoring performance through automatic focusing, and ensuring signal strength.

[0004] Infrared and laser sensing technologies have been relatively mature in the application of offshore oil spill monitoring. However, these two technologies are easily restricted by environmental conditions. Infrared technology relies on temperature differences or reflectivity differences to detect oil pollution and is relatively sensitive to environmental conditions. In particular, weather such as rain and fog may affect the infrared signal and reduce monitoring accuracy. Similarly, under conditions such as thick fog, clouds, or precipitation, the transmission and reflection of 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 offshore oil spill monitoring. By using ultrasonic waves to monitor oil pollution in this application, it can be less affected by the environment to a greater extent and can achieve all-weather monitoring. At the same time, by analyzing the reflected signal of ultrasonic waves, the thickness, location, and even the approximate diffusion range of the oil film can be obtained, which helps to evaluate the oil pollution diffusion in a timely and accurate manner. 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 the climate, resulting in difficulty in collecting oil spill images and thus difficulty in effectively detecting the spread of oil pollution.

[0006] To achieve the above object, the present invention provides an ultrasonic-based shore-based offshore oil spill monitoring system, which consists of an ultrasonic monitoring array composed of a number of ultrasonic transceiver devices arranged on a mobile vehicle. Each single ultrasonic transceiver device includes:

[0007] An ultrasonic transmitting device arranged on the mobile vehicle to emit ultrasonic waves in a preset period in a target direction;

[0008] A number of ultrasonic receiving devices that receive the ultrasonic echo in the target direction and are correspondingly arranged with the ultrasonic transmitting device;

[0009] A signal processor, which triggers a corresponding echo processing mode according to the information of the ultrasonic echo, including:

[0010] The same-side response mode, which is used to receive the ultrasonic echo when the mobile vehicle is in a stationary state and form corresponding same-side data;

[0011] The rotation response mode, which is used to receive the ultrasonic echo when the mobile vehicle is in a patrol state and form corresponding rotation data;

[0012] Wherein, for a single mobile vehicle, it moves a preset target rotation angle according to the preset period and stays for a duration corresponding to the preset period.

[0013] If the ultrasonic echo is received during the stay, the signal processor determines that the mobile vehicle is in the stationary state;

[0014] If the ultrasonic echo is received during the movement, the signal processor determines that the vehicle is in the patrol state.

[0015] Further, it further includes:

[0016] A central control console, which is connected to each ultrasonic transceiver device, used to form corresponding oil spill detection images according to the same-side data and / or rotation data, and

[0017] Determine the start or end of an oil spill event according to the response quantity of the ultrasonic transceiver device;

[0018] Wherein, the oil spill detection image generates a fixed image according to the same-side data and an offset image according to the rotation data.

[0019] Further, for a single oil spill event, the central control console is provided with a corresponding basic offset distance.

[0020] For the ultrasonic echo determined as the rotation data, the central control console moves the image of the rotation data by an integer multiple of the basic offset distance according to its corresponding position.

[0021] The basic offset distance is related to the moving distance of the moving vehicle in a single preset period.

[0022] Further, the central control console is provided with a basic exploration threshold to respond to the occurrence of an oil spill event.

[0023] For a single ultrasonic transceiver, if the ipsilateral data or rotation data corresponding to it includes oil spill information, the central control console determines that the ultrasonic transceiver enters the oil spill detection state.

[0024] For any preset period, if the number of ultrasonic transceivers entering the oil spill detection state reaches the basic exploration threshold, the central control console determines that an oil spill event occurs in this preset period.

[0025] Further, the central control console responds to the occurrence of the oil spill event and issues an oil spill monitoring instruction.

[0026] Each ultrasonic transceiver responds to the oil spill monitoring instruction to stop moving and monitors the oil spill state according to the ipsilateral response mode.

[0027] Further, the single ultrasonic transceiver further includes:

[0028] An ultrasonic tracker set as a telescopic bracket for supporting the ultrasonic transmitting device.

[0029] A vehicle fixator composed of several hydraulic brackets for fixing the moving vehicle.

[0030] Further, the ultrasonic transceiver responds to the oil spill monitoring instruction, controls the vehicle fixator to fix the moving vehicle, and adjusts it to a fixed state.

[0031] The fixed state means that the chassis of the moving vehicle is horizontal, or the moving vehicle can stably be in a corresponding state not greater than a preset angle.

[0032] The preset angle is related to the self-weight of the moving vehicle.

[0033] Further, the ultrasonic transceiver responds to the oil spill monitoring instruction, controls the ultrasonic tracker to adjust the ultrasonic transmitting device to a preset horizontal height before transmitting ultrasonic waves, and enters the fixed monitoring state.

[0034] Further, 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 in the direction close to the sea surface.

[0035] Further, the console is also provided with a periodic coding stamp. For a single preset cycle, the ultrasonic waves emitted by each ultrasonic transmitting device carry the periodic coding stamp of this preset cycle.

[0036] When generating the oil spill detection image, the console generates the oil spill detection image corresponding to this preset cycle according to the periodic coding stamp.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows: an ultrasonic monitoring array is formed by using ultrasonic transceiver devices with adjustable positions, and the corresponding sea surface images are adjusted according to the corresponding cycles of ultrasonic wave emission and reception, so that the images collected from each acquisition device in each cycle can be stitched together, effectively improving the stability of sea surface oil spill image acquisition and at the same time improving the accuracy of ultrasonic acquisition of oil spill pictures.

[0038] Further, by setting the console, the images in the same cycle are combined, and real-time oil spill images are formed by using the collected images, thus effectively avoiding image errors caused by the acquisition process, and further improving the robustness of the oil spill monitoring system while improving the accuracy of the picture.

[0039] Further, by setting the basic exploration threshold, the monitoring response when an oil spill event occurs is activated, and each ultrasonic transceiver device is controlled not to move anymore, improving the ultrasonic acquisition accuracy of the oil spill image while avoiding errors caused by the acquisition activity.

[0040] Further, by using ultrasonic waves with periodic coding stamps, the console can identify the cycle corresponding to the ultrasonic echo, so as to accurately start the monitoring of the oil spill and the stitching of the oil spill image, effectively improving the timeliness of the oil spill image monitoring while improving the accuracy of ultrasonic acquisition of the oil spill picture. Description of the Drawings

[0041] Figure 1 It is a schematic structural diagram of a single ultrasonic transceiver device of the present invention;

[0042] Figure 2 It is a schematic diagram of the target rotation angle of an embodiment of the present invention;

[0043] Figure 3 It is a schematic diagram of cycle comparison of an embodiment of the present invention;

[0044] Figure 4 It is a schematic connection diagram of the shore-based offshore oil spill monitoring system based on ultrasonic waves of the present invention;

[0045] Figure 5 This is a schematic structural diagram of the ultrasonic transceiver device according to an embodiment of the present invention. Detailed implementation manners

[0046] In order to make the objectives and advantages of the present invention more clear and understandable, the present invention will be 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.

[0047] The preferred implementation manners of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these implementation manners are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0048] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for 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, and therefore should not be construed as a limitation of the present invention.

[0049] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0050] Please refer to Figure 1 As shown, it is a schematic structural diagram of a single ultrasonic transceiver device of the present invention, which is an ultrasonic monitoring array composed of several ultrasonic transceiver devices arranged on a mobile vehicle. The single ultrasonic transceiver device includes:

[0051] An ultrasonic transmitting device arranged on the mobile vehicle to emit ultrasonic waves in a preset period to a target direction;

[0052] Several ultrasonic receiving devices that receive ultrasonic echoes in the target direction and are correspondingly arranged with the ultrasonic transmitting device;

[0053] A signal processor that triggers a corresponding echo processing mode according to the information of the ultrasonic echo, including

[0054] A same-side response mode for receiving ultrasonic echoes when the mobile vehicle is in a stationary state and forming corresponding same-side data;

[0055] A rotation response mode is used to receive ultrasonic echoes when the mobile vehicle is in a patrol state and form corresponding rotation data;

[0056] An ultrasonic tracker set as a retractable bracket is used to support the ultrasonic transmitting device;

[0057] A vehicle fixator composed of several hydraulic brackets is used to fix the mobile vehicle.

[0058] Among them, for a single mobile vehicle, it moves a preset target rotation angle according to a preset period and stays for a duration corresponding to the preset period.

[0059] If an ultrasonic echo is received during the stay, the signal processor determines that the mobile vehicle is in a stationary state;

[0060] If an ultrasonic echo is received during the movement, the signal processor determines that the vehicle is in a patrol state.

[0061] An ultrasonic transceiver device with adjustable position is used to form an ultrasonic monitoring array, 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 acquisition device in each period can be stitched together, effectively improving the stability of sea surface oil spill image acquisition and at the same time improving the accuracy of ultrasonic acquisition of oil spill pictures.

[0062] Specifically, the target rotation angle is formed based on a preset monitoring point. In practice, for marine targets, when setting the target rotation angle, the distance of the monitoring point to the land where safe travel is possible should be referred to. Please refer to Figure 2 As shown in, which is a schematic diagram of the target rotation angle of an embodiment of the present invention. In the figure, for the preset monitoring point, it is divided into 12 regions centered on the monitoring point, and each region is the target rotation angle 1, the target rotation angle 2,..., the target rotation angle 12;

[0063] It should be particularly noted that there is less land in the directions of the target rotation angle 10, the target rotation angle 11, and the target rotation angle 12. To reduce the complexity in the figure, they are not marked in this figure;

[0064] Please continue to refer to Figure 2 As shown in the figure, the monitoring point is located on the ocean, the mobile vehicle 1, the mobile vehicle 2, and the mobile vehicle 3 are located on the land, and the mobile vehicle 1 is located at the target rotation angle 7, the mobile vehicle 2 is located at the target rotation angle 4, and the mobile vehicle 3 is located at the target rotation angle 1.

[0065] Please cooperate with Figure 2 Refer to Figure 3 As shown in, which is a schematic diagram of cycle comparison of an embodiment of the present invention. Figure 3 Indicates Figure 2 The position states of each mobile vehicle in the next cycle of, in the figure:

[0066] The mobile vehicle 1 moves from the target corner 7 to the target corner 8;

[0067] The mobile vehicle 2 moves from the target corner 4 to the target corner 5;

[0068] The mobile vehicle 3 moves from the target corner 1 to the target corner 2;

[0069] Obviously, relative to the monitoring point, the mobile vehicle 1, the mobile vehicle 2, and the mobile vehicle 3 all move clockwise by a target corner, that is, they move by a preset target corner;

[0070] It should be particularly 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.

[0071] When the mobile vehicle moves, if in two adjacent preset periods, a single mobile vehicle is located at the same target corner, for example, the mobile vehicle 1 is located at the target corner 7 in the first preset period, and after a preset period, the mobile vehicle 1 is located at the target corner 7 in the second preset period, then this mobile vehicle is determined to be in a stationary state.

[0072] Please refer to Figure 4 as shown, which is a connection schematic diagram of the shore-based offshore oil spill monitoring system based on ultrasonic waves of the present invention, including:

[0073] An ultrasonic monitoring array;

[0074] A central control console, which is connected to each ultrasonic transceiver device, is used to form corresponding oil spill detection images according to the same-side data and / or rotation data, and,

[0075] Determine the start or end of an oil spill event according to the response quantity of the ultrasonic transceiver device;

[0076] Among them, the oil spill detection image generates a fixed image according to the same-side data and an offset image according to the rotation data.

[0077] By setting the central control console, the images in the same period are combined, and the collected images are used to form a real-time oil spill image, thus effectively avoiding image errors caused by the acquisition process, and further improving the accuracy of the picture while enhancing the robustness of the oil spill monitoring system.

[0078] Specifically, for a single oil spill event, the central control console is provided with a corresponding basic offset distance;

[0079] For the ultrasonic echo determined as rotation data, the central control console moves the rotation data by an integer multiple of the basic offset distance according to its corresponding position;

[0080] The base offset distance is related to the moving distance of the mobile vehicle in a single preset period.

[0081] In implementation, for a single mobile vehicle in a single oil spill event, the image collected in the i-th period is Si, the base offset distance is L, and it is determined that the data collected by the mobile vehicle in the i-th period is rotation data. The image collected in the i-th period is determined according to the moving distance Li of the mobile vehicle.

[0082] If Li < L, it is determined that the image Si collected by the mobile vehicle is within the error range.

[0083] If L ≤ Li < 2L, it is determined that the image Si collected by the mobile vehicle is outside the error range, and the image corresponding to Si is translated by L in the direction of movement of the mobile vehicle.

[0084] If 2L ≤ Li < 3L, it is determined that the image Si collected by the mobile vehicle is outside the error range, and the image corresponding to Si is translated by 2L in the direction of movement of the mobile vehicle.

[0085] And so on.

[0086] Among them, i = 1, 2, 3, …, n, n ≥ 3.

[0087] Specifically, the central control console is provided with a base exploration threshold to respond to the occurrence of an oil spill event.

[0088] For a single ultrasonic transceiver device, if the ipsilateral data or rotation data corresponding to it includes oil spill information, the central control console determines that the ultrasonic transceiver device enters the oil spill detection state.

[0089] For any preset period, if the number of ultrasonic transceiver devices entering the oil spill detection state reaches the base exploration threshold, the central control console determines that an oil spill event occurs in this preset period.

[0090] In implementation, different ultrasonic monitoring arrays can be set separately, for example:

[0091] If the ultrasonic monitoring array includes 15 ultrasonic transceiver devices, the single preset period is 30s, and the central control console is provided with a base offset distance of 10 meters, which is set according to the moving distance of 50 meters of the mobile vehicle in a single preset period. For the ultrasonic echo determined as rotation data, the central control console will move the rotation data image in integer multiples of 10 meters according to its corresponding position. At the same time, the central control console is provided with a base exploration threshold of 3, that is, for a single ultrasonic transceiver device, if the ipsilateral data or rotation data corresponding to it includes oil spill information, the central control console determines that the ultrasonic transceiver device enters the oil spill detection state; within a preset period, if the number of ultrasonic transceiver devices entering the oil spill detection state reaches 3, the central control console determines that an oil spill event occurs in this preset period.

[0092] If there are 10 ultrasonic transceiver devices in the ultrasonic monitoring array, the single preset period is 20 s, and the basic offset distance of the central control console is 8 m, which is related to the moving distance of 40 m of the mobile vehicle in a single preset period. When it is determined that the ultrasonic echo is rotation data, the central control console will move the image of the data in integer multiples of 8 m according to its position. The basic exploration threshold of the central control console is set to 2, that is, if a single ultrasonic transceiver device detects oil spill information and enters the oil spill detection state, within a preset period, when 2 or more ultrasonic transceiver devices are in this state, the central control console will determine that an oil spill event has occurred in this period.

[0093] If there are 20 ultrasonic transceiver devices in the ultrasonic monitoring array, the single preset period is 60 s, and the basic offset distance of the central control console is 15 m, which is determined based on the moving distance of 75 m of the mobile vehicle in a single preset period. For the ultrasonic echo of rotation data, the central control console will adjust the position of its image in integer multiples of 15 m. The basic exploration threshold of the central control console is 4, that is, after a single ultrasonic transceiver device detects oil spill information and enters the oil spill detection state, within a preset period, if 4 ultrasonic transceiver devices are in this state, the central control console will determine that an oil spill event has occurred in this preset period.

[0094] 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;

[0095] The above-mentioned density and sparsity have nothing to do with the number of ultrasonic transceiver devices in the ultrasonic monitoring array, but only with their spacing. Preferably, the spacing between every two ultrasonic transceiver devices can be set to 5 km.

[0096] Specifically, in response to the occurrence of an oil spill event, the central control console issues an oil spill monitoring instruction;

[0097] Each ultrasonic transceiver device responds to the oil spill monitoring instruction to stop moving and monitors the oil spill state in the same-side response mode.

[0098] By setting the basic exploration threshold, the monitoring response when an oil spill event occurs is activated, and each ultrasonic transceiver device is controlled not to move anymore, which improves the ultrasonic acquisition accuracy of the oil spill image and avoids errors caused by the acquisition activity.

[0099] Specifically, the ultrasonic transceiver device responds to the oil spill monitoring instruction, controls the vehicle fixator to fix the mobile vehicle, and adjusts it to a fixed state;

[0100] The fixed state is that the chassis of the mobile vehicle is horizontal, or the mobile vehicle can stably be in a corresponding state not greater than the preset angle;

[0101] The preset angle is related to the dead weight of the mobile vehicle.

[0102] Specifically, in response to the oil spill monitoring instruction, the ultrasonic transceiver device controls the ultrasonic tracker to adjust the ultrasonic transmitting device to the preset horizontal height before transmitting ultrasonic waves and enter the fixed monitoring state.

[0103] Specifically, for a 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 in the direction closer to the sea surface.

[0104] Specifically, the central control console is also provided with a periodic coding stamp. For a single preset cycle, the ultrasonic waves emitted by each ultrasonic transmitting device carry the periodic coding stamp of this preset cycle;

[0105] When generating the oil spill detection image, the central control console generates the oil spill detection image corresponding to this preset cycle according to the periodic coding stamp.

[0106] By using the ultrasonic waves set with the periodic coding stamp, the central control console can identify the cycle corresponding to the ultrasonic echo, so as to accurately start the monitoring of the oil spill and the splicing of the oil spill image. While effectively improving the timeliness of the oil spill image monitoring, the accuracy of the ultrasonic acquisition of the oil spill picture is improved.

[0107] Please refer to Figure 5 shown, which is a schematic structural diagram of the ultrasonic transceiver device according to an embodiment of the present invention. In the figure:

[0108] The roof ultrasonic transmitting device lifting platform is used to control the lifting height of the ultrasonic transmitting device. The ultrasonic transmitting device converts the electrical signal into ultrasonic waves and transmits them to the target area. The adaptive signal adjustment module automatically adjusts the transmission signal parameters according to the environmental changes and monitoring requirements.

[0109] The receiving sensor is used to receive the ultrasonic wave signals reflected by the oil stain layer or other objects and convert them into electronic signals for processing. The received signals contain relevant information about the oil stain, such as thickness, concentration and distribution, for subsequent signal adjustment and processing module analysis.

[0110] The ultrasonic receiving device is responsible for receiving the reflected or echo signals of the ultrasonic waves and converting them into electrical signals for subsequent analysis. The analog signal amplifier is used to amplify the received weak echo signals to a sufficient voltage or current level for subsequent signal processing and analysis.

[0111] The signal filter can eliminate noise, enhance the oil spill echo signal, and improve the accuracy of signal detection.

[0112] The analog / digital signal conversion module is used to convert analog signals into digital signals and perform further digital processing.

[0113] The function of the oil spill information analysis module is to extract oil spill-related characteristic information from digital signal data, such as thickness, density, diffusion area, etc.

[0114] The in-vehicle data receiving module performs further processing, storage, and transmission on the received data, providing basic data for subsequent analysis and decision-making. The oil film target measurement module combines with the high-precision positioning module, superimposes the oil film information on an electronic map or real-time image, and displays the result on the screen for easy observation. The real-time data display module can present the detection data of the oil film in a dynamic manner through a graphical interface, facilitating a quick assessment of the pollution situation and emergency decision-making.

[0115] The ultrasonic oil pollution detection device can quickly and mobilely detect oil spill information on the coastal sea surface. And through ultrasonic waves, it can detect the distance, thickness, and location of the oil spill, facilitating the quickest handling of offshore oil spill incidents.

[0116] The above device is based on ultrasonic detection technology and has unique propagation advantages in the water environment. It has higher detection accuracy than traditional infrared and laser detections, and can still work normally especially under conditions such as haze and night, and achieve all-weather monitoring.

[0117] The signal conditioning and filtering technology greatly reduces the need for manual intervention. The device can automatically adjust at different times and sea conditions, thus saving manpower and operating costs, and further increasing the economic benefits of the device in actual operation.

[0118] The real-time data is displayed on the monitoring screen in the form of maps, graphs, etc. through visualization technology, which helps managers quickly identify key information such as pollution sources and pollution areas. The transparent and intuitive display of information can improve management efficiency.

[0119] So far, the technical solution of the present invention has been described in combination 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 all fall within the protection scope of the present invention.

[0120] The above are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, 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-based shore-based offshore oil spill monitoring system, which consists of an ultrasonic monitoring array composed of a number of ultrasonic transceiver devices installed on mobile vehicles, is characterized in that, A single ultrasonic transceiver device includes: An ultrasonic transmitting device installed on a mobile vehicle to transmit ultrasonic waves in a preset period to a target direction; A number of ultrasonic receiving devices that receive ultrasonic echoes in the target direction and are correspondingly arranged with the ultrasonic transmitting device; A signal processor that 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; A central control 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; Wherein, for a single mobile vehicle, it moves a preset target rotation angle according to the preset period and stays for a duration corresponding to the preset period, If the ultrasonic echo is received during the stay, the signal processor determines that the mobile vehicle is in the stationary state; If the ultrasonic echo is received during the movement, the signal processor determines that the vehicle is in the patrol state; The central control console is provided with a basic exploration threshold for responding to the occurrence of an oil spill event; For a single ultrasonic transceiver device, if the same-side data or rotation data corresponding to it includes oil spill information, the central control console determines that the ultrasonic transceiver device enters the oil spill detection state; For any preset period, if the number of ultrasonic transceiver devices that enter the oil spill detection state reaches the basic exploration threshold, the central control console determines that an oil spill event occurs in this preset period; The central control console responds to the occurrence of the oil spill event and issues an oil spill monitoring instruction; Each ultrasonic transceiver device responds to the oil spill monitoring instruction to stop moving and monitors the oil spill state according to the same-side response mode.

2. The shore-based marine oil spill monitoring system based on ultrasonic according to claim 1, characterized in that The oil spill detection image generates a fixed image according to the same-side data and an offset image according to the rotation data.

3. The shore-based offshore oil spill monitoring system based on ultrasonic according to claim 2, characterized in that For a single oil spill event, the central control console is provided with a corresponding basic offset distance; For the ultrasonic echo determined as the rotation data, the central control console moves the rotation data 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 period.

4. The ultrasonic-based shore-based marine oil spill monitoring system according to claim 3, wherein The single ultrasonic transceiver device further includes: An ultrasonic tracker set as a telescopic bracket for supporting the ultrasonic transmitting device; A vehicle fixator composed of a number of hydraulic brackets for fixing the mobile vehicle.

5. The shore-based offshore oil spill monitoring system based on ultrasonic waves according to claim 4, characterized in that The ultrasonic transceiver device responds to the oil spill monitoring instruction, controls the vehicle fixator 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 stably be in a corresponding state not greater than a preset angle; The preset angle is related to the self-weight of the mobile vehicle.

6. The ultrasonic-based shore-based marine oil spill monitoring system according to claim 5, wherein The ultrasonic transceiver device responds to the oil spill monitoring instruction, controls the ultrasonic tracker to adjust the ultrasonic transmitting device to a preset horizontal height before transmitting ultrasonic waves, and enters the fixed monitoring state.

7. The shore-based offshore oil spill monitoring system based on ultrasonic waves according to claim 6, characterized in that, For the single ultrasonic transceiver device, if its corresponding ultrasonic receiving device does not receive a signal in two consecutive preset periods, the ultrasonic transceiver device controls the corresponding mobile vehicle to move in the direction close to the sea surface.

8. The ultrasonic-based shore-based offshore oil spill monitoring system according to claim 7, characterized in that, The console is also provided with a periodic coding stamp. For a single preset period, the ultrasonic waves emitted by each ultrasonic transmitting device carry the periodic coding stamp of this preset period; When generating an oil spill detection image, the console generates an oil spill detection image of this preset period according to the periodic coding stamp.

Images