Autonomous cooperative robotic system for identifying, containing and removing hydrocarbons using artificial intelligence technology

Abstract

The invention relates to an autonomous system and method for identifying, containing and removing hydrocarbons from water, wherein the system comprises at least one main USV, at least two secondary USVs, an aerial drone and a set of containment barriers. The method is remotely monitored by an operator, which ensures an efficient and coordinated response to hydrocarbon spills, minimising the environmental impact and optimising intervention times.

Description

[0001] AUTONOMOUS COOPERATIVE ROBOTIC SYSTEM FOR THE IDENTIFICATION, CONTAINMENT AND REMOVAL OF HYDROCARBONS USING ARTIFICIAL INTELLIGENCE TECHNOLOGY

[0002] FIELD OF INVENTION

[0003] This application relates in general to systems, devices and methods for the removal of pollutants and, more specifically, to robotic systems and devices for the removal of pollutants and methods for the removal of pollutants from bodies of water applied to the containment and recovery of hydrocarbon spills in marine environments.

[0004] STATE OF THE ART

[0005] As a result of oil spills, disaster response teams generally focus their efforts on three types of contaminated zones: 1) in a first zone, there are large surface areas (of the ocean) where crude oil has created a continuous contaminant layer, 2) in a second zone, there are large surface areas (of the ocean) where crude oil has created dispersed contaminant layers, and 3) in a third zone, there are areas where the oil spill has resulted in underwater volumes of contaminants.

[0006] In response, a variety of efforts have been underway to remove spilled oil from the ocean. However, many of these efforts have proven ineffective, economically and technically impossible, or at least inefficient given the large scale of oil spills of the type described above.

[0007] In the field of oil spill containment and recovery, several technologies have been developed and patented. Some of the most relevant include autonomous and semi-autonomous systems that enable the detection, containment, and recovery of hydrocarbons in marine environments. The following describes some significant patents and highlights their differences from the present invention. One relevant patent is CN110670559A, entitled "Intelligent sump oil cleaning unmanned ship," which describes an unmanned vessel with an H-shaped hull equipped with an oil spill induction sensor. This system is designed to detect spills and perform cleanup automatically.Unlike our proposal, this system does not integrate a multi-pronged approach that includes both aerial detection using drones and active containment of the spill in the water, nor does it include a system for containing the spread of the spilled hydrocarbon.

[0008] Another patent of interest is CN 106585904B, titled "A kind of robot for water surface cleaner," which presents an autonomous robot for cleaning water surfaces, equipped with a navigation system and ultrasonic sensors to avoid obstacles. Although this patent addresses automation in water body cleaning, its focus is limited to surface debris collection, without considering hydrocarbon recovery or spill containment using booms, thus limiting its applicability in environmental emergencies.

[0009] Patent CN112376515A describes an "Autonomous recovery method and system for marine oil stains," an autonomous system for recovering oil slicks at sea that uses a catamaran equipped with a spill recovery module. While this system resembles our proposal in that it uses an autonomous vehicle for hydrocarbon collection, it does not include integration with drones for spill detection and location, nor the ability to deploy containment booms simultaneously, which reduces its effectiveness in complex and large-scale operations.

[0010] US Patent 20140158591 - Aqua-robotic pollutant removing systems and devices, and methods of removing pollutants. An aqua-robotic pollutant removal device includes a floating body, an electromechanical housing coupled to the floating body, and a pollutant-absorbing belt coupled to the electromechanical housing and extending outward from the floating body. The electromechanical housing is constructed and arranged to rotate the pollutant-absorbing belt in the water. KR Patent 1020100019031 - Swarm Control Robot Unit For Preventing Oil Spills at Sea Using Unmanned Swarm Robot Control Technology. This invention consists of a robotic unit that is part of a swarm control system for preventing oil spills at sea. Using multiple units, it can surround and contain oil even with short containment booms, and has autonomous movement capabilities.This system employs multiple containment systems similar to ours, but its operation is limited to hydrocarbon recovery without a comprehensive approach that includes aerial detection and storage of the collected hydrocarbon.

[0011] Finally, patent CN112813940B describes an "Intelligent oil-water separator for surface water clearance," an autonomous device that combines a barrier-laying robot and an oil spill recovery robot. This system is similar in concept to ours, but its operation is limited to hydrocarbon recovery without a comprehensive approach that includes aerial detection and coordination among multiple unmanned vehicles for a faster and more effective response.

[0012] BRIEF DESCRIPTION OF THE INVENTION

[0013] The present invention comprises an autonomous and cooperative robotic system designed for the detection, containment, and recovery of oil spills in marine environments. The system consists of three unmanned surface vehicles (USVs) that operate in a synchronized manner and are interconnected by oil containment booms, along with an inspection drone carried by the main USV. The main USV acts as the system's command center and employs edge computing technologies to process image data captured by the drone without requiring network connectivity, resulting in low latency and enhanced security. The drone performs reconnaissance flights in the area of ​​interest, transmitting visual information and geographic coordinate data to the main USV.Using artificial intelligence algorithms, the system identifies affected areas, delineates the spill's boundaries, and determines the coordinates needed to plan optimal routes. Based on this plan, the lead USV sends trajectories to secondary USVs, which transport and deploy containment booms around the affected area, enclosing and confining the spill. Simultaneously, the lead USV activates its hydrocarbon recovery system, using a floating oil skimmer to remove the spilled oil. The entire process is remotely monitored by an operator, ensuring an efficient and coordinated response to oil spills, minimizing environmental impact, and optimizing intervention times.

[0014] BRIEF DESCRIPTION OF THE FIGURES

[0015] Figure 1: General scheme of the proposed invention.

[0016] Figure 2: System operating procedure

[0017] Figure 3: Detail of the components of the main USV.

[0018] Figure 4: Detail of the components of the secondary USV.

[0019] Figure 5: Detail of the drone mapping process.

[0020] Figure 6: Detail of the drone's landing and flight start process.

[0021] Figure 7: Detail of the process of containing the spilled hydrocarbon.

[0022] DETAILED DESCRIPTION OF THE INVENTION

[0023] The present invention relates to an autonomous and cooperative robotic system designed for the identification, containment, and recovery of hydrocarbon spills in bodies of water. The system comprises a main unmanned surface vehicle (USV) 100, which is interconnected to two secondary USVs 110 by means of a set of floating containment booms 116, and an autonomous inspection drone 117 located on top of the main USV. The system elements operate in a synchronized manner using trajectory planning algorithms and edge computing, enabling a rapid and efficient response to hydrocarbon pollution incidents, minimizing contaminant dispersion and optimizing recovery.

[0024] The main USV serves as the command and data processing center, housing the control unit and the high-performance computing system for real-time decision-making. This enables edge computing and the processing of images collected by the drone, which, due to its shorter flight time, requires processing by the main USV to extend its flight time. The main USV 100 has a catamaran-type configuration with two flotation hulls 101, providing stability and maneuverability in varying wave conditions.It has a differential propulsion system powered by thrusters 112, which allows for precise movement, while its navigation system is based on a high-precision satellite geographic location and positioning system 105, an inertial navigation unit (IMU), and wireless communication antennas 104 to transmit information to the other system components. It also features obstacle avoidance sensors using a 3D LiDAR 120 and a dome camera with pan, tilt, and zoom capabilities 119 located on the surface. Additionally, the main USV has an aerial support platform 109 on which the inspection drone is transported. This platform includes QR code markers that facilitate the drone's automatic return to its base, which is located on the main USV in a fixed position.Additionally, the main USV has a hydrocarbon collection system based on a floating oil separator or oil skimmer system 107, with rotating drums 130, designed to extract the contaminant from the water surface and store it in an integrated flexible tank 106.

[0025] The autonomous inspection drone 117 is a key element of the system, as it is responsible for identifying and delineating the spill. This drone takes off from the platform located on the main USV 109 and performs a reconnaissance flight following a zigzag path over the affected area. During the flight, it captures images with an RGB camera that allow the identification of hydrocarbons using segmentation techniques based on neural networks. The data obtained includes georeferenced information that allows the calculation of the extent and exact location of the spill. This data is processed on the main USV using spatial transformation algorithms, allowing precise coordinates to be assigned to each segment of the image detected as contaminated.Once the drone data is processed, the system proceeds to contain the spill by generating and transmitting optimized trajectories from the primary USV to the secondary USVs, which then move around the affected area to deploy the floating containment booms. Similar to the primary USV 100, each secondary USV 110 has a catamaran-type configuration and is equipped with a differential propulsion system, wireless communication antennas, a high-precision satellite-based geographic positioning system, and a control unit for autonomous route planning. They also incorporate dome cameras with pan, tilt, and zoom capabilities, and 3D LiDAR sensors for obstacle detection and safe navigation in the aquatic environment. Unlike the primary USV, they do not include such an advanced data processing system in order to optimize the required computing resources.As the secondary USVs advance following the received trajectories, they precisely deploy and position the containment barriers, forming a closed perimeter around the contaminated area to prevent the dispersion of the hydrocarbon.

[0026] Once the containment phase is complete and the area is secured by the secondary USVs, the primary USV proceeds with hydrocarbon recovery by activating the floating oil skimmer system. This system uses rotating drums 130 to collect the oil, separating it from the water. The recovered hydrocarbon is then stored in storage tank 106, which is carried by the primary USV. During this process, the drone takes off from its base at regular intervals to monitor the amount of oil collected in real time and dynamically adjusts its collection strategy based on the evolution of the spill and the effectiveness of the containment.

[0027] The entire system is remotely monitored by an operator via a control interface, allowing real-time tracking of the position and operation of each component. Communication between the USVs and the drone is conducted using wireless data links, ensuring secure and reliable data transmission. Furthermore, the system features dynamic reconfiguration capabilities, enabling adjustments to the barrier deployment strategy and optimization of hydrocarbon collection based on environmental conditions and the evolving situation.

[0028] The present invention provides a highly efficient and autonomous solution for managing hydrocarbon spills in bodies of water, reducing the need for direct human intervention and minimizing response times. Thanks to the integration of artificial intelligence, edge computing, and autonomous navigation technologies, the system enables precise detection, effective containment, and optimized hydrocarbon recovery, significantly contributing to environmental protection and mitigating the impact of these polluting events.

[0029] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. The following examples are provided to illustrate the contents of the present invention, and those skilled in the art will appreciate that the present invention is not limited to them. Modifications within the scope of the present invention may be possible. Therefore, the scope of the present invention should not be interpreted as being limited to such an embodiment.

[0030] Figure 1 shows an example of the proposed system, which consists of a main USV 100 with two side reels 128 designed to deploy containment booms using secondary USVs 110. These secondary USVs are connected to the main USV via the containment booms, whose function is to prevent the spread of the spilled hydrocarbon to other areas. The secondary USVs operate autonomously, navigating around the affected area according to the trajectory defined by the main USV. This trajectory is generated based on images captured by the inspection drone located at the drone's air support base 109. The entire main USV system is powered by generator 108, which drives the floating oil skimmer 107 using rotating drums 130 to extract the spilled surface oil.Additionally, the hydrocarbon removal system is activated only when the main USV detects proximity to the spill, optimizing energy consumption and allowing the system to operate autonomously for longer periods at sea.

[0031] The procedure for containing and collecting the spilled hydrocarbon is detailed in Figure 2. The process begins when the integrated system moves in a synchronized manner from a dock or vessel near the affected area, heading towards the contaminated area 210. Once the entire system is positioned near the affected area, the drone takes off from its landing platform located on the main USV 220, as illustrated in Figures 5 and 6, initiating the mapping of the spill area. This procedure, described in greater detail later, allows for the processing of this data, enabling the precise identification of the extent of the spill through image processing performed on board the main USV.Based on this information, the system defines the affected area and generates an optimal route plan for the secondary USVs, by processing the collected data and assigning coordinates for the route planning of the secondary USVs 230, which, once they receive instructions from the main USV, proceed to deploy and position the containment barriers around the contaminated area 240, ensuring an effective enclosure that prevents the dispersion of the hydrocarbon to surrounding areas.

[0032] Once the spill containment is complete, the floating oil skimmer, located at the front of the main USV, is activated to begin collecting the hydrocarbons. This absorption system transfers the spilled oil to a containment bladder or tank integrated into the main USV. The entire system is powered by an electric generator that supplies the necessary energy for its operation. Simultaneously, the main USV's side rollers begin to gradually retract the containment booms, directing the accumulated hydrocarbons toward the floating oil skimmer for efficient collection. As the rollers retract the booms, the main USV moves forward in sync with this movement, ensuring that the contained hydrocarbons are fully captured by the absorption system.Once the cleanup process is complete, the drone takes off again from the main USV platform to perform a second mapping of the affected area. By analyzing the captured images, the system verifies whether the cleanup has been completed or if hydrocarbon residue remains in the area. If leaks or residue are detected in new areas, the system reorganizes its operation, adjusting the trajectory of the secondary USVs to again encircle the affected area and repeat the cleanup process until the contamination is completely eliminated.

[0033] Figure 3 shows an example of the main USV 100, which will be used as the system's central platform and will carry the drone 118. It will have a landing platform 109. It also has mobile rollers that will be used to deploy the hydrocarbon containment barrier 116, which will then deploy the secondary USVs. The main USV has a catamaran configuration consisting of two floating hulls 101 and uses differential propulsion via thrusters.It also includes wireless communication antennas 104 to receive data captured by the drone 117, as well as commands received by the supervising operator, and to transmit the necessary commands to the main USVs. Additionally, it has a high-precision satellite positioning system 105 to obtain the coordinates of the USV's location while moving and to follow the route plan received from the main USV. A control box 103 houses all the electronic components. Furthermore, the front features a dome camera with pan, tilt, and zoom capabilities 119, allowing the operator to view the area where the robot is located at all times. Finally, it includes a 3D LiDAR 120, enabling the system to avoid collisions with other objects or obstacles that may be present along its path.At the front it has a floating oil separator or oil skimmer 107 responsible for absorbing the oil from the spilled area, by means of rotating drums which are responsible for draining the oil present and filling the storage bladder of the system 106, in order to operate the whole system there will be an electric generator 108 which will provide electricity to the whole system.

[0034] Figure 4 shows an example of the secondary USV 110, which will be used for the deployment of the boom or hydrocarbon containment barrier 116. The secondary USV has a catamaran-type configuration, which is composed of two flotation hulls 111. It has a differential navigation system using propellers 112. Each secondary USV is made up of wireless communication antennas 114 to receive command orders from the main USV, a high-precision satellite positioning system 115 to obtain the coordinates where the USV is located while moving and following the route plan received from the main USV, and a control box 113 which contains all the electronic components.Additionally, on the front it has a dome-type camera with rotation, elevation and zoom 121, through which the operator can visualize at all times the area where the robot is located, and it will have a 3D LIDAR 122, with which the system can avoid collision with other objects or obstacles that may be present along the route through the area.

[0035] Figure 5 shows the operating principle of the drone system 117. The drone departs from its take-off platform 109 located on the main USV 100, heading towards the spill area. There, it performs a zigzag flight around the spill area, capturing images of the zone. These images, along with the drone's position coordinates obtained by its satellite positioning system, are sent to the system. Based on the data sent, the main USV processes the received data. The images are passed through an initial filter, followed by a neural network trained by segmentation to detect the presence of spilled oil in the images taken by the drone. If oil is present, the network segments the pixels and creates a mask of the areas in the image containing oil.Simultaneously, based on the altitude data and the drone's location and geographic positioning data, mathematical transformations are performed to assign coordinates to each pixel of the image where the spill would be located. Once the complete drone inspection of the spill area is finished and the data is processed by the main USV (edge ​​computing), path planning is carried out with the route to be taken by the secondary USVs. This data is sent wirelessly to the secondary USVs.

[0036] Figure 6 shows how the drone's landing system performs on the main USV, which has an aerial support base for the drone. This support base has QR position indicators that allow the drone to align itself in order to position itself in a fixed orientation. These indicators will serve to guide the drone automatically when it returns to the launch base of the main USV.

[0037] Figure 7 shows the method for containing the spilled hydrocarbon, where the surrounding area affected by the oil spill is surrounded by secondary USVs carrying containment booms. The spilled oil is then absorbed by the floating oil skimmer system located on the main USV.

[0038] METHOD OF IMPLEMENTATION

[0039] The preferred embodiment of the invention comprises an autonomous and cooperative robotic system specifically designed for the detection, containment, and recovery of hydrocarbon spills in bodies of water. This system operates synchronously through the interaction of three unmanned surface vehicles (USVs) and an inspection drone. In this configuration, the primary USV acts as the central processing and coordination node, while the secondary USVs deploy containment booms along pre-planned trajectories based on information processed by the primary USV. The inspection drone, carried by the primary USV, conducts reconnaissance flights over the affected area to identify the location and extent of the spill using artificial intelligence-based image processing. This data is then sent to the primary USV, which in turn develops an optimal containment plan.The lead USV features a catamaran-type configuration with two buoyancy hulls that ensure stability and low hydrodynamic drag, propelled by a differential navigation system with high-efficiency electric thrusters. It is equipped with wireless communication antennas that enable data transmission with the inspection drone, reception of commands from the supervising operator, and two-way communication with the secondary USVs. Obstacle detection and autonomous navigation are supported by a 3D LiDAR system, a high-resolution pan, tilt, and zoom dome camera, an inertial measurement unit (IMU), and a high-precision satellite-based GPS system that allows for accurate trajectory tracking and coordinated operations with the secondary USVs.The spilled oil is collected using a floating oil skimmer system with rotating drums. This system is activated when it reaches the spill area and absorbs the hydrocarbons, storing them in a storage bladder integrated into the main USV. The entire system is powered by a high-capacity electric generator, ensuring its operational autonomy.

[0040] The secondary USVs, also catamaran-shaped, are designed for transporting and deploying containment booms. They feature a differential navigation system using electric thrusters, enabling precise and synchronized maneuvers. They incorporate wireless communication antennas to receive commands from the primary USV, a high-precision satellite positioning system for route tracking, and a sensor system comprised of a dome camera with pan, tilt, and zoom capabilities, and a 3D LiDAR to avoid collisions with obstacles in their path. Each secondary USV is equipped with a motorized roller system that allows for the controlled and uniform deployment of the containment booms, ensuring their correct placement in the affected area to prevent hydrocarbon dispersion.

[0041] The inspection drone, transported and launched from the launch platform integrated into the main USV, is a key component of the system, enabling a rapid and accurate aerial assessment of the spill. It employs a zigzag flight pattern to efficiently cover the affected area, capturing high-resolution images and transmitting them in real time to the main USV. Using advanced image processing techniques and artificial intelligence, areas containing hydrocarbons are identified through segmentation algorithms, generating a digital mask that highlights the contaminated regions. Based on this data and the drone's altitude and geographic positioning information, a spatial transformation is performed to assign precise coordinates to each detected point within the spill.This information is used by the lead USV to generate an optimized route plan for the secondary USVs, who will then proceed with the strategic deployment of the containment barriers.

[0042] To ensure the drone's safe return to the main USV, the landing platform is equipped with QR position indicators, which provide precise guidance during the automatic landing process. The drone's flight control system integrates a visual navigation algorithm based on these markers, facilitating its safe docking with the landing platform even in adverse wind conditions or when the main USV is moving.

[0043] The system is designed to operate autonomously under remote supervision, with a user interface that allows real-time visualization of the status and location of each robotic unit, as well as the evolution of the spill and the efficiency of the containment and recovery process. The operator can modify route planning, adjust operating parameters, or activate emergency modes at any time as needed. The system architecture also allows integration with environmental monitoring networks and emergency management systems, facilitating real-time data transmission to the appropriate authorities for a coordinated and efficient response.

Claims

CLAIMS 1. An autonomous system for the identification, containment, and removal of hydrocarbons in bodies of water, characterized in that it comprises at least one main USV, at least two secondary USVs, an aerial drone, and a set of containment barriers, where: The at least one primary USV comprises: edge computing processing means to process the data from the images captured by the drone without the need for network connectivity, with low latency and greater security; a wireless communication system, which allows it to maintain communication with at least two secondary USVs, the aerial drone, and an operator; and a hydrocarbon collection system using a floating oil skimmer, which is activated only when the main USV detects proximity to the spill, optimizing energy consumption and allowing the system to operate autonomously for longer periods at sea; The at least two secondary USVs are configured for the transport and deployment of the containment barrier assembly at coordinates defined by the primary USV, and comprise: a command reception system from at least one main USV; a deployment mechanism for the containment boom assembly to enclose the spill area; an obstacle detection and avoidance system; and a location and geographic positioning system; The aerial drone is equipped with an RGB camera, a positioning system for detecting its location, and a data transmission system to the main USV; and the containment boom assembly is designed to isolate and limit the spread of hydrocarbons in the water, and is stored on side reels of at least one main USV from where the containment booms are automatically deployed as the at least two secondary USVs advance into the spill zone.

2. An autonomous system for the identification, containment, and removal of hydrocarbons in bodies of water, according to claim 1, characterized in that the main USV for hydrocarbon collection further comprises a drone takeoff and landing platform for mapping and monitoring operations.

3. An autonomous system for the identification, containment, and removal of hydrocarbons in bodies of water, according to claim 1, characterized in that the containment barrier deployment mechanism comprises: a motorized winding and unwinding system on the secondary USVs; an automated anchoring mechanism to fix the barriers in the water; and tension and geolocation sensors to ensure correct placement.

4. Autonomous system for the identification, containment and removal of hydrocarbons in bodies of water, according to claim 1, characterized in that the at least two secondary USVs adjust the tension of the containment barrier assembly by means of an active control system, ensuring a hermetic closure of the affected area.

5. Procedure for the identification, containment and collection of hydrocarbons in bodies of water using the system of the preceding claims, characterized by comprising the following stages: a) Deployment of the system consisting of at least one main USV, at least one pair of secondary USVs and the inspection drone towards the affected area; b) Takeoff of the inspection drone from the landing platform of at least one main USV and performance of a zigzag flight pattern to capture images of the affected area; c) Transmission of the images captured by the inspection drone to at least one main USV, along with the associated location and geographic positioning data; d) Processing the images using artificial intelligence algorithms in the edge computing processing unit of at least one main USV, segmenting the areas contaminated with hydrocarbons and assigning geospatial coordinates to each affected area; e) Generating a route plan for at least a couple of secondary USVs, based on the segmentation of the spill, in order to deploy the containment barriers around the affected area; f) Sending navigation instructions to at least one pair of secondary USVs, allowing automatic deployment of containment barriers from the side reels of at least one main USV; g) Enclosing the affected area by navigating with at least a pair of secondary USVs, avoiding the dispersion of the hydrocarbon; h) Activation of the floating oil skimmer system at the front of at least one main USV, initiating the process of absorbing the hydrocarbon present on the water surface and storing it in the bladder or containment tank; i) Synchronization of the movement of at least one main USV with the retraction system of the containment boom assembly, guiding the hydrocarbon towards the collection zone of the floating oil skimmer system; j) Real-time monitoring of the cleaning process using the dome-type camera with rotation, elevation and zoom and the sensors of the USVs; k) Completion of the collection process and performance of a second flight of the inspection drone to verify the cleanliness of the area by means of a new image capture; l) If hydrocarbon residues are detected after the final inspection, repeat the procedure in the areas where residual contamination has been detected; and m) Return of the system to the point of origin after completing the cleaning of the affected area.

6. The method according to claim 5, wherein the analysis of the images captured by the inspection drone is performed using a segmentation model based on deep neural networks, which identifies and generates a mask of the areas with the presence of hydrocarbons.

7. The method according to claim 5, wherein the route planning of at least one pair of secondary USVs is carried out using trajectory optimization algorithms, ensuring maximum efficiency in the deployment of the containment barrier assembly.

8. The method according to claim 5, wherein the retraction of the containment boom assembly is performed in a synchronized manner with the navigation speed of at least one main USV, optimizing the concentration of the hydrocarbon in the collection zone.

9. The method according to claim 5, wherein the at least one main USV automatically adjusts its position and speed according to environmental conditions, such as currents and waves, ensuring the stability of the collection process.

10. The method according to claim 5, wherein at regular intervals the drone re-maps the area, and if it detects leaks or residue in new areas, the system reorganizes its operation, adjusting the trajectory of at least a pair of secondary USVs to again encircle the affected area and repeat the collection process until the contamination is completely eliminated.

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