CN104908897A - Autonomous cruise and water-surface spilled oil recovery robot - Google Patents
Autonomous cruise and water-surface spilled oil recovery robot Download PDFInfo
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- CN104908897A CN104908897A CN201510338018.7A CN201510338018A CN104908897A CN 104908897 A CN104908897 A CN 104908897A CN 201510338018 A CN201510338018 A CN 201510338018A CN 104908897 A CN104908897 A CN 104908897A
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- electric ship
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Abstract
The invention discloses an autonomous cruise and water-surface spilled oil recovery robot which comprises an electric ship with an enclosed type ship body, wherein spilled oil recovery systems are fixedly arranged on external walls on the two sides of the electric ship; each spilled oil recovery system comprises oil absorption devices connected together in parallel; oil conduits are arranged in the middles of the oil absorption devices; output ends of the oil conduits are connected with manifold plates; the manifold plates are connected with oil storage tanks arranged in the electric ship by self-priming pumps; a solar cell panel is spread on the upper surface the electric ship; an output end of the solar cell panel is connected with a driving motor of the electric ship to drive the electric ship to travel; a detection device is arranged at a bow part of the electric ship; and an autonomous cruise control system is arranged in the electric ship. With the adoption of the autonomous cruise and water-surface spilled oil recovery robot, autonomous recovery on spilled oil on a random water area on the condition of unmanned operation, autonomous cruise, solar power automation charging for continuous voyage, wireless data transmission and long distance supervision are realized, so that the personal safety of staff is ensured, and the labor cost is lowered.
Description
Technical field
The invention belongs to field of environment protection, relate to a kind of environment-friendly type spilled oil on water surface recycling machine people, particularly relate to a kind of autonomous cruise spilled oil on water surface recycling machine people.
Background technology
Present environmental problem is the hot issue of global concern.The quality of living environment directly determines the quality of our quality of life.In recent years along with growing to oil demand of countries in the world, oil production and transport increase, and oil spill accident takes place frequently, and cause huge pollution to environment.Particularly sea oil spill is more outstanding to the pollution of environment, sea oil spill mainly comprises the discharge, operability oil spilling (i.e. the oil spilling of boats and ships during fuel up oil and the loading of oil carrier cargo tank) etc. of marine accident oil spilling (offshore field reveals and oil tanker is revealed), oily sewage, oil spilling causes serious pollution to global environment, also be the serious waste to resource, thus many oil spilling process and recovery method are constantly produced.
Current sea oil spill treatment technology mainly contains Physical, chemical method and bioanalysis.General in order to avoid the further pollution to environment, Physical is optimal method, and wherein more widely used is that oil spilling reclaims mechanical device.The domestic and international oil spilling reclaimed about sea oil spill reclaims mechanical device and mainly contains two kinds at present: a kind of is pushing tow operation, and namely oil spilling recycling machine is placed on the front end of ship; Another kind is side-pull type, and hold oil spilling recycling machine by stay cord, work is carried out in the side that oil spilling recycling machine is placed on ship.
In current oil recovery system, there are the VOS system of the LSC system of Finland LAMOR, Dutch KOSEQ, the DIP system etc. of U.S. SLICKBAR abroad; The domestic oil recovery system having Qingdao light.These oil recovery systems have employed the lift-launch mode of pushing tow or layback all respectively, and all achieve good effect in oil spilling recycling.But discovery is compared in research, this type of carries the device of oil spilling recycling machine at present, be mostly after ship arrival object place of working, and by manually oil spilling recycling machine being hung upstream face, to be fixedly to install, oil spilling recycling machine is started working.And when needing to carry out operation to next place after its work completes, then by staff on ship, oil spilling machine manually need be sling, or keep being placed on buoyance, now ship need travel at a slow speed and go to next operating location.So said system all needs artificial installation, placement reclaim oil spilling recycling machine, and such oil spilling recycling machine complex structure, expensive, the hazardous location gone to needing nobody carries out receiving oily operation, and said system can't be finished the work smoothly.Therefore, develop a kind of function admirable, receive that oily structure is simple, the autonomous cruise spilled oil on water surface recycling machine people of use safety has become a kind of necessary, and had good market outlook.
Summary of the invention
The object of this invention is to provide a kind of autonomous cruise spilled oil on water surface recycling machine people, to reach function admirable, to receive oily structure simply, safe and convenient to use, and realize carrying out actv. the automatic recovery to spilled oil on water surface.
The present invention solves above-mentioned technical matters by following technical proposals:
A kind of autonomous cruise spilled oil on water surface recycling machine people, comprise electric ship, the hull of described electric ship is closed, the both sides outer wall of described electric ship is fixedly arranged on skimming system, described skimming system comprises the oil header be connected in parallel, be laid with oil guide pipe in the middle of described oil header, the mouth of described oil guide pipe is connected with many discriminations plate, and described many discriminations plate is connected with the petrol storage tank being located at electric ship inside by self-priming pump;
The upper surface tiling of described electric ship has for collecting solar power and being translated into the solar panel of electric energy, and the mouth of described solar panel is connected for driving electric ship to travel with the drive motor of electric ship; The fore portion of described electric ship is provided with detecting device, and the inside of electric ship is provided with autonomous cruise control system.
Further scheme, described oil header forms by oleophilic drainage material with for the fixed cap of fixing oleophilic drainage material.
Further scheme, described oleophilic drainage material does hydrophobization coating process gained by sponge by organic silicon solution; Described fixed cap is the aluminium matter taper lid-like of spraying plating teflon.
Further scheme, the mouth of described solar panel is connected with lithium cell by charger, and the mouth of described lithium cell to be connected with the drive motor of electric ship by multi-channel switch power powers, and travels for driving electric ship.
Further scheme, described detecting device comprises for the laser radar of obstacle avoidance thing and the oil spilling detector for detecting spilled oil on water surface; The mouth of described laser radar, oil spilling detector is all connected with the central controller on electric ship, and the mouth of described central controller is electrically connected with drive motor, self-priming pump respectively.
Further scheme, described autonomous cruise control system comprises the transmit antenna being fixedly arranged on electric ship upper end, described transmit antenna comprises GPS transmit antenna and GPRS transmission antenna, and the mouth of described GPS transmit antenna is connected with the central controller on electric ship by gps satellite alignment sensor; The mouth of described GPRS transmission antenna is connected with central controller by GPRS wireless data transmission module; The input end of described central controller is connected with electronic compass, for identifying the travel direction of electric ship.
Central controller in the present invention, electronic compass be all electric ship from carrying device, its structure & working mechanism is known.
In the present invention, many discriminations plate is the transmission pipeline of multiple import one outlet, the oil guide pipe of multiple branch is accumulated a total oil guide pipe, is then transferred in petrol storage tank by self-priming pump and stores.
Satellite-signal is transferred to central controller by gps satellite alignment sensor by GPS transmit antenna, determines the position coordinate of current power ship; GPRS transmission antenna receives artificial remote control commands simultaneously, and control command is transferred to central controller by GPRS wireless data transmission module, determines its destination of navigating by water; Determine that the current direction of electric ship is transferred to central controller by electronic compass again.Central controller obtains the electric ship current driving direction signal of GPS latitude and longitude coordinates signal, control command signal and electronic compass instruction respectively, by process computing, can according to the route of planning setting of cruising in advance, Real Time Drive electric ship carries out autonomous cruise and arrives oil spilling reclaiming destination.
Laser radar take laser as the radar of working beam, is with the radar system of the characteristic quantities such as the position of the Emission Lasers bundle detection of a target, speed.It is made up of laser transmitter, optical receiver, turntable and information handling system etc., electric pulse is become light pulse emission and goes out by laser, photoreceiver is reduced into electric pulse the light pulse reflected from target again, gives central controller to drive hull avoiding obstacles.
Oil spilling detector adopts light scattering rate method of testing, utilizes oil film to judge whether that oil film exists with the water surface to light reflectance is different.The optical system that detector inside is made up of semiconductor laser light resource, scanner, parabolic mirror surface and optical diode detector and circuit part form.During detection, LASER Light Source sends laser, periodically carries out laser-scan at x-y direction of principal axis by scanner, makes light beam energy vertical irradiation on the water surface.Light beam runs into water surface back reflection to parabolic mirror surface, by parabolic mirror surface, reflected light is focused to photodetector again, photomultiplier received by photodetector, convert optical signal to electric signal to process to central controller through wire transfer again, thus show whether the water surface has oil spilling, thus control oil suction pump carries out oil spilling recycling.
In the present invention, the power supply of electric ship collects solar power by solar panel and is translated into electric energy, again by charger by electrical power storage in lithium cell, the power supply that lithium cell exports is supplied to the work components and parts such as drive motor, gps satellite alignment sensor, central controller, electronic compass, laser radar, oil spilling detector more respectively as required and works power supply after the function such as conversion, step-down of multi-channel switch power, for driving and controlling electric ship traveling.
So beneficial effect of the present invention is:
The present invention adopts the sponge of modifying upper hydrophobization coating as oil absorption material, achieves effective separation of profit, is absorbed by the oil on the water surface, effectively reach spilled oil on water surface process.Simultaneously by autonomous cruise programme path with carry out spectrum to oil spilling and detect in real time, realize the voluntary recall of the oil spilling on any waters in unattended situation, autonomous cruise, the continuation of the journey of solar power automatic charging, Wireless Data Transmission and remote supervisory, ensure that the personal safety of staff, decrease the input of personnel, reduce cost of labor.
Accompanying drawing explanation
Fig. 1 is schematic side view of the present invention.
Fig. 2 is birds-eye view of the present invention.
Fig. 3 is the structural representation of skimming system in the present invention.
Fig. 4 is the structural representation of oil header in the present invention.
Fig. 5 is schematic block circuit diagram of the present invention
In figure: 1-electric ship, 2-skimming system, 2-1 oil header, 2-2 oil guide pipe, 2-3 many discriminations plate, 2-4 petrol storage tank, 2-5 self-priming pump, 2-11 oleophilic drainage material, 2-12 fixed cap; 3-solar panel, 4-autonomous cruise control system, 5-detecting device, 6-transmit antenna, 7-drive motor, 8-charger, 9-lithium cell, 10-laser radar, 11-oil spilling detector, 12-GPS satellite positioning sensor, 13-electronic compass, 14-central controller, 15-multi-channel switch power, 16-GPRS wireless data transmission module.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, 2, a kind of autonomous cruise spilled oil on water surface recycling machine people, comprise electric ship 1, the hull of described electric ship 1 is closed, the both sides outer wall of described electric ship 1 is fixedly arranged on skimming system 2, the upper surface tiling of described electric ship 1 has for collecting solar power and being translated into the solar panel 3 of electric energy, the mouth of described solar panel 3 is connected with charger 8, the mouth of charger 8 is connected with lithium cell 9, lithium cell 9 is connected with the drive motor 7 of electric ship 1 by multi-channel switch power 15, travels for driving electric ship 1; The fore portion of described electric ship 1 is provided with detecting device 5, and the inside of electric ship 1 is provided with autonomous cruise control system 4.
As shown in Figure 3, described skimming system 2 comprises multiple oil header 2-1 be connected in parallel, oil guide pipe 2-2 is laid with in the middle of described oil header 2-1, the mouth of described oil guide pipe 2-2 is connected with many discriminations plate 2-3, and described many discriminations plate 2-3 is connected with the petrol storage tank 2-4 being located at electric ship 1 inside by self-priming pump 2-5;
Further, as shown in Figure 4, oil header 2-1 is formed by oleophilic drainage material 2-11 with for the fixed cap 2-12 of fixing oleophilic drainage material 2-11.
Preferably, described oleophilic drainage material 2-11 does hydrophobization coating process gained by sponge by organic silicon solution; Described fixed cap 2-12 is the aluminium matter taper lid-like of spraying plating teflon.
As shown in Figure 5, the mouth of solar panel 3 is connected with lithium cell 9 by charger 8, the mouth of described lithium cell 9 is connected with the drive motor 7 of electric ship 1 by multi-channel switch power 15, namely solar panel 3 is collected solar power and is translated into electric energy and is stored in lithium cell 9 by charger 8, and is converted for powering for drive motor 7 and self-priming pump 2-5 by multi-channel switch power 15 pairs of voltages.
Further scheme, described detecting device 5 comprises for the laser radar 10 of obstacle avoidance thing and the oil spilling detector 11 for detecting spilled oil on water surface.Laser radar 10 and oil spilling detector 11 are by the Signal transmissions detected to the central controller 14 that electric ship carries, and central controller 14 sends a signal to drive motor 7 after analyzing, self-priming pump 2-5 carries out work.
Further scheme, described autonomous cruise control system 4 comprises the transmit antenna 6 being fixedly arranged on electric ship 1 upper end, described transmit antenna 6 comprises GPS transmit antenna 6-1 and GPRS transmission antenna 6-2, and the mouth of described GPS transmit antenna 6-1 is connected with the central controller 14 on electric ship 1 by gps satellite alignment sensor 12; The mouth of described GPRS transmission antenna 6-2 is connected with central controller 14 by GPRS wireless data transmission module 16; The input end of described central controller 14 is connected with electronic compass 13, for identifying the travel direction of electric ship 1.
Wherein GPS transmit antenna 6-1 is receiving satellite signal, to determine the longitude and latitude of current power ship 1; GPRS transmission antenna 6-2 is for receiving artificial remote control signal, to control the position signal that electric ship 1 will arrive; And electronic compass 13 is the current directions in order to determine electric ship 1.This three roads signal of central controller 14 analyzing and processing, and drive drive motor 7 to carry out work, drive electric ship to carry out autonomous cruise and arrive oil spilling and reclaim destination.
When this device uses, first send to electric ship the destination signal that cruises by wireless base station by operating personal, GPRS transmission antenna 6-2 receives this signal and is transferred to central controller 14 to determine its destination of navigating by water, current navigation direction is determined again by electronic compass 13, thus according to the current location information that GPS transmit antenna 6-1 provides, Real Time Drive electric ship 1 carries out autonomous cruise and arrives oil spilling reclaiming destination.The obstacle in front is avoided again in time by laser radar in detecting device 10, oil spilling detector 11 detect electric ship 1 the face that cuts off the water can have oil spilling, if had, then drive self-priming pump 2-5 work, the oil spilling on the water surface carries out being recovered in petrol storage tank 2-4 by oil header 2-1.The drive motor 7 of electric ship 1 and the working power of self-priming pump 2-5 are all absorbed solar power by solar panel 3 and be converted into electric energy to provide.
The above is only preferred embodiment of the present invention, not does any pro forma restriction to technical scheme of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all still belong to claimed scope of the present invention in the scope of technical scheme of the present invention.
Claims (6)
1. an autonomous cruise spilled oil on water surface recycling machine people, comprise electric ship (1), the hull of described electric ship (1) is closed, it is characterized in that: the both sides outer wall of described electric ship (1) is fixedly arranged on skimming system (2), described skimming system (2) comprises the oil header (2-1) be connected in parallel, oil guide pipe (2-2) is laid with in the middle of described oil header (2-1), the mouth of described oil guide pipe (2-2) is connected with many discriminations plate (2-3), described many discriminations plate (2-3) is connected by the petrol storage tank (2-4) that self-priming pump (2-5) is inner with being located at electric ship (1),
The upper surface tiling of described electric ship (1) has for collecting solar power and being translated into the solar panel (3) of electric energy, the mouth of described solar panel (3) is connected with the drive motor (7) of electronic canoe (1), travels for driving electric ship (1);
The fore portion of described electric ship (1) is provided with detecting device (5), and the inside of electric ship (1) is provided with autonomous cruise control system (4).
2. autonomous cruise spilled oil on water surface recycling machine people according to claim 1, is characterized in that: described oil header (2-1) forms by oleophilic drainage material (2-11) with for the fixed cap (2-12) of fixing oleophilic drainage material (2-11).
3. autonomous cruise spilled oil on water surface recycling machine people according to claim 2, is characterized in that: described oleophilic drainage material (2-11) does hydrophobization coating process gained by sponge by organic silicon solution; The aluminium matter taper lid-like that described fixed cap (2-12) is spraying plating teflon.
4. autonomous cruise spilled oil on water surface recycling machine people according to claim 1, it is characterized in that: the mouth of described solar panel (3) is connected with lithium cell (9) by charger (8), the mouth of described lithium cell (9) is connected with the drive motor (7) of electric ship (1) by multi-channel switch power (15) powers.
5. autonomous cruise spilled oil on water surface recycling machine people according to claim 1, is characterized in that: described detecting device (5) comprises for the laser radar (10) of obstacle avoidance thing and the oil spilling detector (11) for detecting spilled oil on water surface; The mouth of described laser radar (10), oil spilling detector (11) is all connected with the central controller (14) on electric ship (1), and the mouth of described central controller (14) is electrically connected with drive motor (7), self-priming pump (2-5) respectively.
6. autonomous cruise spilled oil on water surface recycling machine people according to claim 1, it is characterized in that: described CCS cruise control system (4) comprises the transmit antenna (6) being fixedly arranged on electric ship (1) upper end, described transmit antenna (6) comprises GPS transmit antenna (6-1) and GPRS transmission antenna (6-2), and the mouth of described GPS transmit antenna (6-1) is connected with the central controller (14) on electric ship (1) by gps satellite alignment sensor (12); The mouth of described GPRS transmission antenna (6-2) is connected with central controller (14) by GPRS wireless data transmission module (16); The input end of described central controller (14) is connected with electronic compass (13), for identifying the travel direction of electric ship (1).
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105442514A (en) * | 2015-12-08 | 2016-03-30 | 中国科学院新疆理化技术研究所 | Oil slick collection method |
| CN107401149A (en) * | 2017-08-08 | 2017-11-28 | 中国科学院新疆理化技术研究所 | A kind of spilled oil on water surface recovery method |
| CN108221898A (en) * | 2018-02-01 | 2018-06-29 | 大连交通大学 | A kind of waterborne contaminant clean method |
| CN109778811A (en) * | 2019-03-22 | 2019-05-21 | 西南石油大学 | A kind of oil spilling recycling intelligent operation apparatus |
| CN110670559A (en) * | 2019-09-25 | 2020-01-10 | 烟台职业学院 | Intelligent sump oil cleaning unmanned ship |
| CN111645813A (en) * | 2020-06-01 | 2020-09-11 | 郑州大松机电工程有限公司 | Multifunctional intelligent control unmanned ship for water surface cleaning |
| CN111857139A (en) * | 2020-07-07 | 2020-10-30 | 华友天宇科技（武汉)股份有限公司 | Rotary tillage boat based on automatic driving strategy and control method thereof |
| CN113699953A (en) * | 2021-08-31 | 2021-11-26 | 生态环境部华南环境科学研究所 | Automatic oil collecting system and method on water surface |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105442514A (en) * | 2015-12-08 | 2016-03-30 | 中国科学院新疆理化技术研究所 | Oil slick collection method |
| CN107401149A (en) * | 2017-08-08 | 2017-11-28 | 中国科学院新疆理化技术研究所 | A kind of spilled oil on water surface recovery method |
| CN107401149B (en) * | 2017-08-08 | 2019-04-16 | 中国科学院新疆理化技术研究所 | A kind of spilled oil on water surface recovery method |
| CN108221898A (en) * | 2018-02-01 | 2018-06-29 | 大连交通大学 | A kind of waterborne contaminant clean method |
| CN109778811A (en) * | 2019-03-22 | 2019-05-21 | 西南石油大学 | A kind of oil spilling recycling intelligent operation apparatus |
| CN110670559A (en) * | 2019-09-25 | 2020-01-10 | 烟台职业学院 | Intelligent sump oil cleaning unmanned ship |
| CN111645813A (en) * | 2020-06-01 | 2020-09-11 | 郑州大松机电工程有限公司 | Multifunctional intelligent control unmanned ship for water surface cleaning |
| CN111857139A (en) * | 2020-07-07 | 2020-10-30 | 华友天宇科技（武汉)股份有限公司 | Rotary tillage boat based on automatic driving strategy and control method thereof |
| CN113699953A (en) * | 2021-08-31 | 2021-11-26 | 生态环境部华南环境科学研究所 | Automatic oil collecting system and method on water surface |
| CN113699953B (en) * | 2021-08-31 | 2022-08-26 | 生态环境部华南环境科学研究所 | Automatic oil collecting system and method on water surface |
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