Autonomous, shuttle-based residual oil recovery equipment system

Abstract

The application provides a kind of autonomous shuttle type residual oil recovery equipment system, including liquid pumping storage shuttle platform, oil tank, sunken ship opening and liquid pumping equipment, underwater electric heating system, buoyancy adjusting device and operation type ROV.Liquid pumping storage shuttle platform carries oil tank and opening liquid pumping equipment, and the opening of double-deck hull of sunken ship and residual oil pumping are completed by ROV cooperation;Underwater electric heating system cyclically heats high-viscosity residual oil to improve fluidity;Buoyancy adjusting device dynamically matches oil-water replacement buoyancy change through anchor chain ballast, to realize hovering operation.The application integrates opening, heating, pumping, storage and transportation, can realize autonomous shuttle operation without diver in large depth, and significantly improves the efficiency and safety of deepwater sunken ship residual oil recovery.

Description

Technical Field

[0001] This invention relates to the field of marine engineering equipment technology, specifically to an autonomous shuttle-type residual oil recovery equipment system, and more particularly to a collaborative operation equipment system composed of a pumping and storage shuttle platform, an oil storage tank, a shipwreck opening and pumping equipment, an underwater electric heating system, and an operational ROV. Background Technology

[0002] With the development of the global shipping industry, the number of very large crude carriers (VLCCs) of 300,000 tons and above, as well as dangerous chemical vessels, has surged, significantly increasing the risk of oil spills and hazardous chemical leaks caused by deep-sea shipwrecks. Traditional residual liquid recovery technologies are limited by operating depth, reliance on divers, low heating efficiency, and insufficient equipment integration, making it difficult to meet the emergency response needs in complex deep-sea environments.

[0003] For example, existing oil pumping equipment mostly uses steam heating or short-distance pipeline transportation, which has drawbacks such as large heat loss, poor viscosity adaptability, and slow recovery speed in deep water, high pressure and low temperature environments. In addition, there is a lack of efficient solutions for scenarios such as opening holes in double-hulled vessels and transporting high-viscosity residual liquids, resulting in long operation cycles and high environmental risks.

[0004] Emergency response and recovery operations for residual oil and liquid hazardous chemicals in deep water are complex systems engineering projects involving multiple fields and technologies, including the dismantling, opening, and sealing of deep-sea shipwrecks, as well as the extraction, storage, and transfer of residual oil / liquid hazardous chemicals. The technology is highly advanced and the operations are very difficult. In addition, due to the flammable, explosive, and toxic properties of residual oil / liquid hazardous chemicals, and the limitations imposed by water depth and sea conditions, recovery operations are high-risk and have become a difficult problem in current marine environmental governance. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide an autonomous shuttle-type residual oil recovery equipment system.

[0006] According to the present invention, an autonomous shuttle-type residual oil recovery equipment system includes: The liquid pumping and storage shuttle platform includes a surface monitoring power station and an underwater shuttle platform. The surface monitoring power station is connected to the underwater shuttle platform via an umbilical cable to provide power and control. An oil storage tank, installed on the underwater shuttle platform, is used to store recovered residual oil; The shipwreck drilling and pumping equipment is mounted on the underwater shuttle platform and is used to drill holes in the hull of the shipwreck and pump out the internal residual oil. An underwater electric heating system is used to heat the residual oil inside the sunken ship; A buoyancy adjustment device is installed on the underwater shuttle platform to adjust the overall buoyancy of the platform; The operational ROV is used to work underwater in conjunction with the shipwreck's drilling and pumping equipment.

[0007] Preferably, the underwater shuttle platform includes a main frame and buoyancy material, a thruster, an underwater hydraulic system, an underwater electronic control system, and a pressure compensation system disposed on the main frame; The underwater hydraulic system provides power to the thruster; The underwater electronic control system is connected to the surface monitoring power station and underwater sensors for transmitting data and control commands. The pressure compensation system is connected to the underwater electronic control system and the underwater hydraulic system respectively, and is used to maintain the internal and external pressure balance.

[0008] Preferably, the oil storage tank includes a tank body, a vent valve, and a breather valve. The vent valve is located at the top of the tank body, and the breather valve is located on both sides of the bottom of the tank body. The vent valve and the breather valve work together to achieve adaptive adjustment of the internal environmental pressure.

[0009] Preferably, it also includes a residual oil transfer system, which includes an oil transfer hose, a hose winch, a manifold, and a fluid control valve; The hose winch is fixed to the underwater shuttle platform and is used to retrieve, deploy, and store the oil hose. One end of the oil transfer hose is used to connect the sunken ship's opening and the pumping equipment, and the other end is connected to the oil storage tank through the manifold. The fluid control valve is installed on the manifold and is used to control the opening and closing of the transmission channel.

[0010] Preferably, the oil delivery hose includes a main pipeline for transporting residual oil and a heat tracing pipeline for transporting a heat-conducting medium, wherein the heat tracing pipeline is built into the wall of the oil delivery hose or is floating inside the main pipeline.

[0011] Preferably, the buoyancy adjustment device includes an anchor chain and its deployment and retraction device, which automatically matches the buoyancy changes caused by oil-water displacement in the oil storage tank by adjusting the ballast length of the anchor chain.

[0012] Preferably, the underwater electric heating system includes a heating container, an electric heater, a heat transfer medium, and a transfer pump; The electric heater is placed inside the heating container and is used to heat the heat-conducting medium; The transfer pump is used to transport the heated heat transfer medium through the heat tracing pipeline of the oil delivery hose to the heat exchange device of the shipwreck opening and pumping equipment, so as to exchange heat with the heavy oil inside the shipwreck.

[0013] Preferably, the shipwreck drilling and pumping equipment includes an outer drilling machine, an inner drilling machine, an oil pump, and a base plate; The outer layer drilling machine is used to carry and install the base plate onto the outer steel plate of the sunken ship and to drill holes in the outer layer. The inner layer drilling machine is used to dock with the base plate to drill holes in the inner layer steel plate and extract residual oil. The oil pump is installed inside the inner layer perforator and is used to pump residual oil to the oil storage tank.

[0014] Preferably, the outer layer drilling machine includes an outer layer drilling machine main structure, a steel plate adsorption device, a base plate mounting system, an outer layer drilling machine cutting tool and its driving system, and an outer layer drilling machine wet plug-in connector; The steel plate adsorption device is used to temporarily fix the outer layer hole-opening machine to the outer layer steel plate of the sunken ship. The base plate mounting system is used to rigidly fix the base plate to the outer steel plate of the wreck. The outer layer opening machine wet plug connector is used to dock with the work-type ROV to obtain power and control signals.

[0015] Preferably, the inner layer drilling machine includes an inner layer drilling machine main structure, a hollow drill rod and its drive system, a heavy oil heater, an oil pump, and an inner layer drilling machine wet plug-in connector; The interior of the hollow drill pipe serves as a channel for residual oil transport; The heavy oil heater is used to heat the residual oil inside and around the hollow drill pipe; The inner layer drilling machine wet plug connector is used to dock with the work-type ROV to obtain power and control signals.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention comprehensively solves the problems of existing shipwreck residual oil recovery, especially when dealing with media with special properties such as high viscosity heavy oil or liquid hazardous chemicals, which have poor low-temperature fluidity, flammability, and explosiveness, and are limited by water depth, sea conditions, etc., resulting in high risk and low efficiency of recovery operations.

[0017] 2. The autonomous shuttle-type residual oil recovery equipment system proposed in this invention adopts an autonomous shuttle operation mode to extract and transfer residual liquid inside deep-sea shipwrecks, breaking the limitations of traditional operation methods and enabling deep-sea residual oil recovery; it integrates functions such as shipwreck opening, liquid extraction, residual liquid storage and transfer, optimizing the operation process and improving operation efficiency and safety; by utilizing the collaborative operation capability of ROVs, the composition of the residual oil recovery equipment system is simplified, realizing unmanned operation. Attached Figure Description

[0018] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the autonomous shuttle-type residual oil recovery equipment system in an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of the autonomous shuttle-type residual oil recovery equipment system in an embodiment of the present invention; Figure 3 This is a schematic diagram of the underwater operation of the autonomous shuttle-type residual oil recovery equipment system in an embodiment of the present invention; Figure 4 This is a schematic diagram of an underwater shuttle platform in an embodiment of the present invention; Figure 5 This is a schematic diagram of the composition of the oil storage tank and residual liquid transfer system in an embodiment of the present invention; Figure 6 This is a front view of the outer layer drilling machine in an embodiment of the present invention; Figure 7 This is a rear view of the outer layer drilling machine in an embodiment of the present invention; Figure 8 This is a schematic diagram of the main drilling rig for the outer layer hole drilling machine in an embodiment of the present invention; Figure 9 This is a front view of the inner layer drilling machine in an embodiment of the present invention; Figure 10 This is a rear view of the inner layer drilling machine in an embodiment of the present invention; Figure 11 This is a schematic diagram of the main drilling rig for the inner layer drilling machine in an embodiment of the present invention.

[0019] Explanation of reference numerals in the attached figures: Detailed Implementation

[0020] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0021] This embodiment relates to an autonomous shuttle-type residual oil recovery equipment system, such as... Figures 1-11As shown, the system mainly consists of a pumping and storage shuttle platform, an oil storage tank 2, a shipwreck opening and pumping equipment 3, an underwater electric heating system, and a work-type ROV 6. The pumping and storage shuttle platform adopts an open frame structure to house the oil storage tank 2, the shipwreck opening and pumping equipment 3, and the underwater electric heating system. The tank body 21 of the oil storage tank 2 is equipped with a vent valve 23, a breather valve 24, and an inlet / outlet. The coordinated action of the vent valve 23 and the breather valve 24 enables adaptive adjustment of environmental pressure. The underwater electric heating system uses resistance wire heating or electromagnetic induction heating to circulate and heat the heavy oil inside the shipwreck, increasing the fluidity of the heavy oil under high pressure and low temperature conditions. The pumping and storage shuttle platform is equipped with a buoyancy adjustment device 5, which automatically matches the buoyancy changes generated after the oil-water replacement in the oil storage tank 2 by adjusting the anchor chain ballast length, enabling hovering operations throughout the pumping process.

[0022] The liquid pumping and storage shuttle platform includes a surface monitoring power station 11 and an underwater shuttle platform 12, which are connected via an umbilical cable 13. The surface monitoring power station 11 provides high-voltage power and monitoring information transmission to the underwater shuttle platform 12 via the umbilical cable 13, and remotely controls the underwater shuttle platform 12 to perform functions such as diving / surfacing, hovering and positioning, underwater heating, deployment and retrieval of the flexible hose winch 42, valve control, and buoyancy adjustment.

[0023] In one specific embodiment, the surface monitoring power station 11 includes a power system, a control system, and a power supply unit and a monitoring and control unit housed within a container. The power supply unit is connected to the power system via a power channel inside the umbilical cable 13, providing high-voltage electric power for the operation of the underwater shuttle platform 12. The monitoring and control unit is connected to the control system via a communication channel inside the umbilical cable 13, receiving sensor data from the control system and transmitting control commands.

[0024] Specifically, the underwater shuttle platform 12 includes a main frame 121, and buoyancy material 122, a thruster 123, an underwater hydraulic system 124, an underwater electronic control system 125, a pressure compensation system 126, a residual oil transfer system 4, an underwater heating system, and a buoyancy adjustment device 5, all mounted on the main frame 121. The underwater hydraulic system 124 is connected to the thruster 123, the residual oil transfer system 4, and the buoyancy adjustment device 5 via oil pipes, providing hydraulic power and control. The underwater electronic control system 125 is connected to the surface monitoring power station 11, the underwater hydraulic system 124, underwater sensors, and the underwater electric heating system via cables, collecting data from each underwater sensor and transmitting it to the surface via an umbilical cable 13. It also receives surface control commands to achieve motion control of the underwater shuttle platform 12 and operational control of each system. The pressure compensation system 126 is connected to the underwater electronic control system 125 and the underwater hydraulic system 124, providing pressure compensation to maintain internal and external pressure balance.

[0025] The main frame 121 is provided with a load-bearing lifting point 127 to facilitate the deployment of the underwater shuttle platform 12; the thruster 123 includes a horizontal thruster 123 and a vertical thruster 123, preferably a hydraulically driven ducted propeller, to provide power for the underwater movement of the underwater shuttle platform 12; the buoyancy material 122 is arranged on both sides of the upper frame of the main frame 121 to balance the underwater weight of the underwater shuttle platform 12.

[0026] Furthermore, the residual oil transfer system 4 includes an oil transfer hose 41, a hose winch 42, an oil pump, a manifold 43, and a fluid control valve 44. Its internal transfer channel connects the inner perforator 32 and the oil storage tank 2, used to transfer residual oil from inside the sunken ship to the oil storage tank 2. One end of the oil transfer hose 41 is connected to the oil pump of the inner perforator 32, and the other end is connected to the hose winch 42. The hose winch 42 is used to deploy and store the oil transfer hose 41, and its output end is connected to the manifold 43. The two ends of the manifold 43 are respectively connected to the output end of the hose transfer hose 41 of the hose winch 42 and the oil storage tank 2. A fluid control valve 44 is installed on the manifold 43 to control the opening and closing of the transfer channel. The hose winch 42 is fixed inside the lower frame of the underwater shuttle platform 12, and the oil transfer hose 41 is wound around the hose winch 42.

[0027] In a preferred embodiment, the oil transfer hose 41 includes a main pipeline for transporting residual oil and a heat tracing pipeline for transporting a heat-conducting medium. The heat tracing pipeline is built into the wall of the oil transfer hose 41 or is floating inside the main pipeline. By arranging the heat tracing pipeline, the oil transfer pipeline can be insulated and heated while the residual oil is being transported, preventing the residual oil from experiencing a decrease in fluidity or even solidification due to low temperature during transport.

[0028] The underwater electric heating system includes a heating container, an electric heater, a heat transfer medium, and a transfer pump. The heating container is filled with the heat transfer medium, and the electric heater is placed inside the heating container to heat the heat transfer medium. The transfer pump connects the inside of the heating container to the heat tracing pipeline of the oil delivery hose 41 of the hose winch 42. The transfer pump transports the high-temperature heat transfer medium through the heat tracing pipeline built into the oil delivery hose 41 to the heat exchange device of the inner perforator 32, where it exchanges heat with the heavy oil inside the sunken ship.

[0029] The oil storage tank 2 is a transfer storage tank 21 for transferring residual liquid from sunken ships to the water surface. It is made of metal or flexible non-metallic materials and is installed on the main structure of the underwater shuttle platform 12 via a base 22. It includes the tank body 21, the base 22, the vent valve 23, and the breather valve 24. The vent valve 23 is installed at the highest point of the top of the tank body 21 for venting air during submersion and is closed when filling the seabed with oil, at which time the internal pressure of the tank body 21 increases. The breather valves 24 are installed on both sides of the bottom of the tank body 21 for filling with water during submersion, at which time the external pressure is greater than the internal pressure. When filling with oil, the internal seawater is replaced, at which time the internal pressure is greater than the external pressure. It also has a safety protection function. The bottom of the tank body 21 is provided with oil inlet / outlet ports for pumping oil, which are connected to the manifold 43 of the residual oil transfer system 4.

[0030] The shipwreck drilling and pumping equipment 3 includes an outer drilling machine 31, an inner drilling machine 32, an oil pump, and a base plate 33. Both the outer drilling machine 31 and the inner drilling machine 32 adopt an ROV collaborative operation mode, with a work-type ROV 6 docking with the drilling machine to provide it with power and control. The outer drilling machine 31 has the functions of mounting the base plate 33 and drilling holes in the outer steel plate. The inner drilling machine 32 can dock with the outer steel plate base plate 33 and has the functions of drilling holes in the inner steel plate, heating residual oil in the shipwreck, and pumping. The base plate 33 is the fixed foundation for the drilling machine to operate on the surface of the ship hull. It is carried by the front end of the outer drilling machine 31 and installed on the surface of the outer steel plate of the shipwreck through the drilling machine positioning drill. The oil pump is installed inside the inner drilling machine 32 and is connected to the drill rod. It can pump the flowable residual oil inside the shipwreck to the oil delivery hose 41.

[0031] The shipwreck drilling and pumping equipment 3 is mounted inside the lower frame of the underwater shuttle platform 12 via a tool-mounted compartment. The ROV 6 docks with it underwater to complete the shipwreck drilling and other operations.

[0032] Furthermore, the outer layer punching machine 31 mainly consists of the outer layer punching machine main structure 311, the outer layer punching machine buoyancy material 312, the steel plate adsorption device 313, the base plate 33 mounting system 314, the outer layer cutting tool and its drive system 315, and the wet plug-in connector 316. The main structure 311 of the outer layer drilling machine is an open frame, which serves as the installation foundation for all equipment. Its front end can carry the base plate 33. The steel plate adsorption device 313, which uses the principle of electromagnets or suction cups, is set at the front end of the outer layer drilling machine 31 and is mainly used for temporary fixation of the outer layer drilling machine 31 to the outer steel plate of the sunken ship. The base plate mounting system 314 uses the principle of self-tapping bolts or nails to rigidly fix the base plate 33 to the outer steel plate of the sunken ship. The outer layer cutting tool and its drive system 315 are the core tools for cutting and drilling holes in the outer steel plate. The cutting tool is driven by a hydraulic motor or electric motor to rotate and remove the steel plate material. The wet plug-in connector 316 of the outer layer drilling machine is the interface for the collaborative operation of the work-type ROV 6 and the outer layer drilling machine 31. It is connected underwater by the manipulator of the work-type ROV 6 to realize the transmission of control information, electrical energy or hydraulic energy between the work-type ROV 6 and the outer layer drilling machine 31.

[0033] Furthermore, the inner layer drilling machine 32 mainly consists of the inner layer drilling machine main structure 321, the inner layer drilling machine buoyancy material 322, the hollow drill rod and its drive system 323, the heavy oil heater 324, the oil pump 325, and the inner layer drilling machine wet plug-in connector 326. The inner drilling machine's main structure 321 is an open frame, serving as the installation foundation for all equipment. Its front end can connect to the outer steel plate base 33. The inner drilling machine 32's cutting blade is driven by a hydraulic motor or electric motor to remove steel plate material. Its cutting blade uses an extended hollow drill rod and its drive system 323. The interior of the hollow drill rod is a channel for residual oil transport. The heavy oil heater 324 uses resistance wire heating, electromagnetic induction, or heat transfer medium to heat the heavy oil inside and around the hollow drill rod, improving its fluidity. The oil pump 325 is connected in series at the end of the hollow drill rod to extract residual oil from the sunken ship and pump it to the oil storage tank 2 via the oil hose 41 and hose winch 42. The inner drilling machine's wet-plug connector 326 is the interface for collaborative operation between the work-type ROV 6 and the inner drilling machine 32. It connects underwater via the work-type ROV 6's robotic arm, enabling the work-type ROV to work together. 6. Transmission of control information, electrical energy, or hydraulic energy between the inner layer punching machine 32 and the inner layer punching machine.

[0034] Furthermore, the buoyancy adjustment device 5 includes an anchor chain and its deployment and retraction mechanism, located near the center of the lower frame of the main frame 121. On the seabed, the length of the anchor chain is adjusted to achieve seabed mooring and buoyancy balance for the underwater shuttle platform 12. During pumping, the dynamic adjustment of the anchor chain ballast length automatically matches the buoyancy changes caused by oil-water displacement within the oil storage tank 2, enabling hovering operations throughout the entire pumping process.

[0035] Work process: This embodiment of the autonomous shuttle-type residual oil recovery equipment system performs residual oil extraction operations in deep-water environments using an ROV-assisted approach. It is suitable for double-hull vessels and achieves residual oil extraction under conditions where the outer perforator 31 has a perforation diameter greater than 250mm, the outer perforated steel plate thickness is greater than 30mm, the inner perforator 32 has a perforation diameter greater than 150mm, the inner perforated steel plate thickness is greater than 30mm, and no divers are required to operate. The specific operation process is as follows: Step S1: The underwater shuttle platform 12 carries the shipwreck opening and pumping equipment 3 and dives under its own weight and with the assistance of the thruster 123; the operational ROV 6 is deployed on the other side to observe and guide the underwater shuttle platform 12 to the vicinity of the shipwreck. Step S2: The underwater shuttle platform 12 stops diving near the shipwreck and lowers the anchor chain for seabed mooring and fixation; Step S3: The ROV 6 first docks with the outer drilling machine 31. The ROV 6 carries the outer drilling machine 31 to the drilling position of the sunken ship to fix the base plate 33 and drill holes in the outer steel plate. Step S4: The ROV 6 sends the outer layer drilling machine 31 back to the underwater shuttle platform 12 and then separates it. Then it docks with the inner layer drilling machine 32. The ROV 6 carries the inner layer drilling machine 32 to the outer base plate 33 to dock and drill the inner layer hole. Step S5: The ROV 6 uses its robotic arm to grab and pull the oil hose 41 to the inner layer perforator 32, and connects the hose quick connector to the interface of the inner layer perforator 32. Step S6: Start the underwater electric heating system to circulate and heat the heavy oil in the oil tank of the sunken ship; start the pump 325 of the inner layer perforator 32 to start pumping liquid, and the residual liquid inside the sunken ship enters the oil storage tank 2 after passing through the oil delivery hose 41, hose winch 42 and manifold 43. Step S7: After the oil storage tank 2 is filled with residual liquid, the underwater electric heating system and the liquid pump 325 are turned off. The ROV 6 separates the oil hose 41 from the inner perforator 32, and the hose winch 42 recovers the oil hose 41. Step S8: The ROV 6 returns the inner drilling machine 32 back to the underwater shuttle platform 12 and then separates it; Step S9: By retrieving the anchor chain, the operational ROV 6 and the underwater shuttle platform 12 rise synchronously until they are about 20 meters above the water surface and maintain a constant depth and orientation. Step S10: With the assistance of the ROV 6, connect the surface pumping hose to the pumping port of the underwater shuttle platform 12 to transfer the residual liquid; Step S11: After the transfer is completed, the underwater shuttle platform 12 and the operational ROV 6 will dive back to the vicinity of the sunken ship and repeat steps 2 to 10 to carry out the next round of residual liquid recovery until all residual liquid in the oil tanks of the sunken ship is recovered. Step S12: Recover the underwater shuttle platform 12 and the operational ROV 6. The operation is now complete.

[0036] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0037] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A self-driving shuttle-type residual oil recovery equipment system, characterized in that, include: The liquid pumping and storage shuttle platform includes a surface monitoring power station (11) and an underwater shuttle platform (12). The surface monitoring power station (11) is connected to the underwater shuttle platform (12) via an umbilical cable (13) to provide power and control. An oil storage tank (2) is installed on the underwater shuttle platform (12) for storing recovered residual oil; The shipwreck drilling and pumping equipment (3) is mounted on the underwater shuttle platform (12) and is used to drill holes in the shipwreck hull and pump out the internal residual oil. An underwater electric heating system is used to heat the residual oil inside the sunken ship; A buoyancy adjustment device (5) is installed on the underwater shuttle platform (12) to adjust the overall buoyancy of the platform; An operational ROV (6) is used to work underwater in conjunction with the shipwreck drilling and pumping equipment (3).

2. The autonomous shuttle-type residual oil recovery equipment system according to claim 1, characterized in that, The underwater shuttle platform (12) includes a main frame (121) and buoyancy material (122), thruster (123), underwater hydraulic system (124), underwater electronic control system (125) and pressure compensation system (126) disposed on the main frame (121). The underwater hydraulic system (124) provides power to the thruster (123); The underwater electronic control system (125) is connected to the surface monitoring power station (11) and the underwater sensors for transmitting data and control commands; The pressure compensation system (126) is connected to the underwater electronic control system (125) and the underwater hydraulic system (124) respectively, and is used to maintain internal and external pressure balance.

3. The autonomous shuttle-type residual oil recovery equipment system according to claim 1, characterized in that, The oil storage tank (2) includes a tank body (21), a vent valve (23) and a breather valve (24). The vent valve (23) is located on the top of the tank body (21), and the breather valve (24) is located on both sides of the bottom of the tank body (21). The vent valve (23) and the breather valve (24) work together to achieve adaptive adjustment of the internal environmental pressure.

4. The autonomous shuttle-type residual oil recovery equipment system according to claim 1, characterized in that, It also includes a residual oil transfer system (4), which includes an oil transfer hose (41), a hose winch (42), a manifold (43), and a fluid control valve (44). The hose winch (42) is fixed on the underwater shuttle platform (12) and is used to retrieve, deploy and store the oil hose (41). One end of the oil transfer hose (41) is used to connect the sunken ship opening and the pumping equipment (3), and the other end is connected to the oil storage tank (2) through the manifold (43); The fluid control valve (44) is installed on the manifold (43) and is used to control the opening and closing of the transmission channel.

5. The autonomous shuttle-type residual oil recovery equipment system according to claim 4, characterized in that, The oil delivery hose (41) includes a main pipeline for transporting residual oil and a heat tracing pipeline for transporting heat-conducting medium. The heat tracing pipeline is built into the wall of the oil delivery hose (41) or floated inside the main pipeline.

6. The autonomous shuttle-type residual oil recovery equipment system according to claim 1, characterized in that, The buoyancy adjustment device (5) includes an anchor chain and its launching and retracting device, which automatically matches the buoyancy changes caused by oil-water displacement in the oil storage tank (2) by adjusting the ballast length of the anchor chain.

7. The autonomous shuttle-type residual oil recovery equipment system according to claim 5, characterized in that, The underwater electric heating system includes a heating container, an electric heater, a heat transfer medium, and a transfer pump; The electric heater is placed inside the heating container and is used to heat the heat-conducting medium; The transfer pump is used to transport the heated heat transfer medium through the heat tracing pipeline of the oil transfer hose (41) to the heat exchange device of the shipwreck opening and pumping equipment (3) for heat exchange with the heavy oil inside the shipwreck.

8. The autonomous shuttle-type residual oil recovery equipment system according to claim 1, characterized in that, The shipwreck drilling and pumping equipment (3) includes an outer drilling machine (31), an inner drilling machine (32), an oil pump (325), and a base plate (33). The outer layer drilling machine (31) is used to carry and install the base plate (33) to the outer steel plate of the shipwreck and to drill holes in the outer layer; The inner layer drilling machine (32) is used to dock with the base plate (33) to drill holes in the inner layer steel plate and extract residual oil; The oil pump (325) is installed inside the inner layer tapping machine (32) and is used to pump residual oil to the oil storage tank (2).

9. The autonomous shuttle-type residual oil recovery equipment system according to claim 8, characterized in that, The outer layer drilling machine (31) includes an outer layer drilling machine main structure (311), a steel plate adsorption device (313), a base plate mounting system (314), an outer layer drilling machine cutting tool and its driving system (315), and an outer layer drilling machine wet plug-in connector (316). The steel plate adsorption device (313) is used to temporarily fix the outer layer hole punch (31) to the outer layer steel plate of the shipwreck; The base plate mounting system (314) is used to rigidly fix the base plate (33) to the outer steel plate of the shipwreck; The outer perforated wet-plug connector (316) is used to mate with the work-type ROV (6) to obtain power and control signals.

10. The autonomous shuttle-type residual oil recovery equipment system according to claim 8, characterized in that, The inner layer drilling machine (32) includes the inner layer drilling machine main structure (321), hollow drill rod and its drive system (323), heavy oil heater (324), oil pump (325) and inner layer drilling machine wet plug connector (326). The interior of the hollow drill pipe serves as a channel for residual oil transport; The heavy oil heater (324) is used to heat the residual oil inside and around the hollow drill pipe; The inner hole-drilling wet plug connector (326) is used to mate with the work-type ROV (6) to obtain power and control signals.

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