CN112376515A - Autonomous recovery method and system for marine oil stain - Google Patents
Autonomous recovery method and system for marine oil stain Download PDFInfo
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- CN112376515A CN112376515A CN202011162864.5A CN202011162864A CN112376515A CN 112376515 A CN112376515 A CN 112376515A CN 202011162864 A CN202011162864 A CN 202011162864A CN 112376515 A CN112376515 A CN 112376515A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/045—Separating means for recovering oil floating on a surface of open water
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
- E02B15/104—Conveyors; Paddle wheels; Endless belts
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
Abstract
The invention relates to the technical field of marine environmental protection, in particular to an autonomous recovery method and system of marine oil stains, wherein the system comprises: the aircraft comprises an aircraft main body, an oil spill recovery module and a motion control module, wherein the oil spill recovery module and the motion control module are arranged on the aircraft main body, the aircraft main body is a small waterplane area catamaran with a variable structure, and the method comprises the following steps: the thruster responds to a control instruction of the central processing unit and drives the navigation of the aircraft body; when the central controller determines that oil spills on the water surface, the distance value between the deck and the water surface measured by the distance sensor is obtained, and the height of the oil spill recovery module from the water surface is adjusted according to the distance value; when the height of the spilled oil recovery module from the water surface is adjusted to be a threshold value by the central controller, the rotating motor of the spilled oil recovery module is triggered to operate so as to recover and treat spilled oil.
Description
Technical Field
The invention relates to the technical field of marine environment detection and protection, in particular to an autonomous recovery method and system for marine oil stains.
Background
The leakage of petroleum into the sea not only wastes the scarce petroleum resources and causes huge economic loss, but also causes serious damage to the marine ecological environment, so that the prevention and treatment of pollution caused by petroleum leakage are very necessary.
In order to deal with offshore oil leakage accidents, the conventional oil spill treatment method generally adopts an oil containment boom, an oil skimmer and the like, but has the defects of high cost and low efficiency; in addition, the conventional spilled oil recovery vessel has a slow sailing speed and cannot reach a spilled oil area quickly, or the ship body is not stable enough when spilled oil is recovered, so that oil stains on the sea surface are not cleared conveniently and efficiently.
Disclosure of Invention
In order to solve the above problems, the present invention provides an autonomous recovery method and system for marine oil contamination, so as to solve one or more technical problems in the prior art, and provide at least one useful choice or creation condition.
In order to achieve the purpose, the invention provides the following technical scheme:
an autonomous recovery system of marine oil contamination, the system comprising: the device comprises an aircraft body, an oil spill recovery module and a motion control module, wherein the oil spill recovery module and the motion control module are arranged on the aircraft body;
the main body of the aircraft is a small water plane catamaran with a variable structure, and the oil spill recovery module is used for recovering and treating oil spill when the oil spill on the water surface is determined; when the spilled oil recovery module recovers spilled oil, the spilled oil recovery module is in contact with the water surface, and the main body of the aircraft is converted into a trimaran from a small waterplane catamaran; the motion control module is used for controlling navigation of the aircraft body.
Further, the main body of the aircraft comprises a deck, support columns arranged on two sides of the deck, two floating bodies connected with the lower ends of the support columns on the two sides of the deck respectively, and arc-shaped shells connected with the upper ends of the support columns on the two sides of the deck, wherein the two floating bodies are positioned below the deck, and the arc-shaped shells are positioned above the deck;
the motion control module comprises a central processing unit and a propeller, the propeller is connected with the central processing unit and arranged at the tail part of the floating body, and the propeller is used for responding to a control instruction of the central processing unit and driving the navigation of the aircraft main body.
Furthermore, a single crystal flexible solar assembly is laid on the outer surface of the arc-shaped shell and connected with a lithium battery, and the lithium battery is respectively connected with the motion control module and the oil spill recovery module.
Further, motion control module set up in the inside of body, motion control module still includes communication module, GPS module, distance sensor, lidar, sonar, accelerometer and the PWM module be connected with central processing unit respectively.
Further, the oil spilling recovery module set up in the below of deck, the oil spilling recovery module includes rotating electrical machines, conveyer belt, oil tank, oil pumping pipe, the surface equidistance of conveyer belt is fixed and is provided with the oil-water separation piece, rotating electrical machines is used for driving about the conveyer belt and rotates, oil pumping pipe set up in the both sides of conveyer belt, oil pumping pipe and oil tank intercommunication.
Further, an oil inlet of the oil pumping pipe is also provided with an oil-water separation membrane.
Further, a liquid level sensor is arranged at the top end inside the oil tank and connected with the central processing unit.
An autonomous recovery method of marine oil stains is applied to any one of the above autonomous recovery systems of marine oil stains, and the method comprises the following steps:
s100, a propeller responds to a control instruction of a central processing unit and drives the navigation of the aircraft main body;
s200, when the central controller determines that oil spills on the water surface, acquiring a distance value between a distance sensor and the water surface, and adjusting the height of the oil spill recovery module from the water surface according to the distance value;
and step S300, when the central controller adjusts the height of the oil spill recovery module from the water surface to be a threshold value, triggering the rotating motor of the oil spill recovery module to operate so as to recover and treat the oil spill.
The invention has the beneficial effects that: the invention applies for a method and system of autonomous recovery of sea greasy dirt, the vehicle body that the invention provides combines small waterplane area catamaran and trimaran, it is small waterplane area catamaran while navigating, compared with conventional monohull, the wave resistance of the vehicle is more excellent, compared with conventional slender type hull, the wave resistance of the small waterplane area catamaran is smaller, and under the equivalent ship length condition, because of the existence of underwater submerged body, provide the larger buoyancy, has increased the payload of the hull, can guarantee it can reach the oil spilling area fast using the structure; when the spilled oil is recovered in the spilled oil area, the spilled oil recovery module is in contact with the water surface to form a trimaran, and compared with a catamaran, the trimaran can avoid the phenomena of 'twisting and rocking' and 'short-period rocking', has better stability in the spilled oil recovery, and is convenient for the spilled oil recovery module to more efficiently remove the oil stain on the sea surface.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of an autonomous recovery system for marine oil contamination according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an oil spill recovery module according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of an oil suction pipe and an oil tank in the embodiment of the invention;
FIG. 4 is a schematic flow chart of an autonomous recovery method of marine oil contamination according to an embodiment of the invention;
Detailed Description
The conception, specific structure and technical effects of the present application will be described clearly and completely with reference to the following embodiments and the accompanying drawings, so that the purpose, scheme and effects of the present application can be fully understood. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
With reference to fig. 1, 2 and 3, embodiments of the present application provide an autonomous recovery system of marine oil contamination, the system comprising: the aircraft comprises an aircraft body 100, an oil spill recovery module 200 and a motion control module, wherein the oil spill recovery module 200 is arranged on the aircraft body 100;
the aircraft main body 100 is a small water plane catamaran with a variable structure, and the oil spill recovery module 200 is used for recovering and treating oil spill when the oil spill on the water surface is determined; when the spilled oil recovery module 200 recovers spilled oil, the spilled oil recovery module 200 contacts the water surface, and the aircraft main body 100 is converted from a small waterplane area catamaran to a trimaran; the motion control module is used to control navigation of the aircraft body 100.
The aircraft body 100 provided by the embodiment of the invention is a small waterplane area variable structure semi-submersible type hull, and a small waterplane area catamaran and a trimaran are combined; the main body 100 of the aircraft is a small waterplane area catamaran during navigation, and when oil spillage is recovered in an oil spillage area, the oil spillage recovery module 200 is in contact with the water surface to form a trimaran; the main body 100 of the aircraft realizes the conversion of two types of small waterplane catamarans and trimarans;
the unmanned autonomous recovery system provided by the invention has the following beneficial effects:
in the sailing process of the aircraft reaching the oil spilling area, the aircraft main body 100 is a small waterplane area catamaran, and compared with a conventional slender type hull, the small waterplane area catamaran has smaller wave making resistance and is convenient to quickly reach the oil spilling area; under the condition of equivalent ship length, due to the existence of the underwater submerged body, larger buoyancy is provided, and the effective load of the ship body is increased; compared with a conventional monohull ship, the wave resistance and maneuverability of the aircraft are better;
when the spilled oil is recovered, the spilled oil recovery module 200 is in contact with the water surface, and the aircraft main body 100 can be converted from a small waterplane area catamaran into a trimaran through the position change of the spilled oil recovery module 200, so that compared with a catamaran, the trimaran can avoid the phenomena of 'twisting' and 'short-period swinging' of the catamaran, has better stability in the spilled oil recovery process, and is convenient for the long-distance operation of the spilled oil recovery module 200; in a word, the small waterplane area variable structure semi-submersible type hull can ensure that the aircraft main body 100 can quickly reach an oil spilling area, and oil stains on the sea surface can be removed more efficiently.
In a modified embodiment, the vehicle main body 100 comprises a deck 101, support columns 102 arranged on two sides of the deck 101, two floating bodies 103 respectively connected with the lower ends of the support columns 102 on two sides of the deck 101, and arc-shaped shells 104 connected with the upper ends of the support columns 102 on two sides of the deck 101, wherein the two floating bodies 103 are positioned below the deck 101, and the arc-shaped shells 104 are positioned above the deck 101;
the motion control module comprises a central processing unit and a propeller 301, the propeller 301 is connected with the central processing unit, the propeller 301 is arranged at the tail part of the floating body 103, and the propeller 301 is used for responding to a control instruction of the central processing unit and driving the navigation of the aircraft main body 100.
In the embodiment provided by the invention, the oil spill recovery module 200 is connected with the deck 101 through a hydraulic rod, the floating bodies 103 on two sides of the main body 100 of the aircraft are in a water-drop shape, and the motion control module can ensure that the vehicle can quickly and autonomously reach an oil spill area after acquiring a target position; the deck 101 provided by the aircraft body 100 facilitates long-term attended.
In a modified embodiment, a single crystal flexible solar module is laid on the outer surface of the arc-shaped shell 104, and is connected with lithium batteries which are respectively connected with the motion control module and the oil spill recovery module 200.
In the embodiment, the single crystal flexible solar module converts solar energy into electric energy, and the electric energy is sent to the lithium battery to be stored; the single crystal flexible solar energy assembly can provide power for the operation of the aircraft main body 100, and the cruising ability of the aircraft main body 100 is improved.
In a modified embodiment, the motion control module is disposed inside the floating body 103, and the motion control module further includes a communication module, a GPS module, a distance sensor, a laser radar, a sonar, an accelerometer, and a PWM module, which are respectively connected to the central processing unit.
The central processing unit adopts an STM32 singlechip, the communication module adopts a 4G communication module, a 5G communication module or a WiFi communication module, specifically, 4G/5G communication can be adopted for inland rivers or offshore lands, WiFi communication can be adopted for short distances, self-built base station service or offshore satellite broadband communication can be adopted for open seas, and the technical personnel in the field select according to actual conditions; the GPS module is used to determine GPS positioning information for the aircraft body 100; the laser radar and sonar are arranged at the front end of the deck 101; the laser radar is matched with the sonar to detect peripheral obstacles, and the detected distance value is provided for the central controller to be processed, so that the motion control module can control the aircraft main body 100 to avoid the obstacles according to the processing result; the accelerometer is a six-axis gyroscope accelerometer with an MPU6050 model; the PWM module is used for controlling navigational speed; the distance sensor is arranged below the deck 101 and used for measuring the distance value between the deck 101 and the water surface, and the central controller reasonably adjusts the hydraulic rod according to the distance value to enable the spilled oil recovery module 200 to be at a good recovery height all the time.
In the embodiment, laser detection and image identification are combined, non-contact and continuous oil spill detection is realized through a laser reflection technology, and the image identification is realized by analyzing and detecting different texture characteristics and morphological characteristics of an oil film image and a water surface image by using an infrared camera.
Specifically, when oil spill detection is performed, a laser light source of the laser detector irradiates the water surface, and converts a reflected light signal into an electric signal, and transmits the electric signal to the central controller, and the central controller analyzes the electric signal, combines the electric signal with an image recognition result, and judges whether oil spill exists on the water surface, so that the oil spill recovery module 200 is controlled to perform accurate oil spill recovery processing.
In a modified embodiment, the spilled oil recovery module 200 is disposed below the deck 101, the spilled oil recovery module 200 includes a rotating motor 201, a conveyor belt 202, an oil tank 203, and an oil pumping pipe 204, an oil-water separation sheet 205 is fixedly disposed on an outer surface of the conveyor belt 202 at an equal interval, the rotating motor 201 is configured to drive the conveyor belt 202 to rotate, the oil pumping pipe 204 is disposed on two sides of the conveyor belt 202, and the oil pumping pipe 204 is communicated with the oil tank 203.
In this embodiment, the conveyor belt 202 is annular, the oil tank 203 is water-drop type, when the oil spill recovery module 200 is started to clean up the oil spill, the rotating motor 201 drives the conveyor belt 202 to rotate, the oil-water separation sheet 205 rotates along with the conveyor belt 202 and contacts with the oil spill on the water surface, the oil spill is conveyed to the oil pumping pipe 204 by the oil-water separation sheet 205, the water penetrates through the oil-water separation sheet 205 and cannot be conveyed, only the oil can successfully enter the oil tank 203 through the oil pumping pipe 204, the oil-water separation sheet 205 can continue to rotate along with the conveyor belt 202 to continuously convey the oil spill on the water surface, and the operation is repeated in this way, so that the recovery of the oil spill on the water.
In a modified embodiment, an oil inlet of the oil pumping pipe 204 is further provided with an oil-water separation membrane.
Because when transporting oil water mixture, water can be filtered by the oil water separating sheet 205 of one deck one layer again many times until filtering out completely, and only oil gets into oil tank 203 through the oil water separating membrane of oil inlet smoothly, and oil water separating membrane can further carry out the separation to the water in the surface of water oil spill, need not to add in addition and establishes separator and many subregion oil tank 203 to the low-cost quick convenient separation of oil water mixture has been realized.
In a modified embodiment, the top end of the inside of the oil tank 203 is provided with a liquid level sensor, and the liquid level sensor is connected with a central processing unit.
When the oil tank 203 is full, the liquid level sensor senses and triggers an alarm signal and transmits the alarm signal to the central processing unit, and the central processing unit returns to the starting point according to the set position.
Referring to fig. 4, an embodiment of the present invention further provides an autonomous recovery method of marine oil contamination, which is applied to the unmanned autonomous recovery system according to any of the above embodiments, and the method includes the following steps:
s100, a propeller responds to a control instruction of a central processing unit and drives the navigation of the aircraft main body;
s200, when the central controller determines that oil spills on the water surface, acquiring a distance value between a distance sensor and the water surface, and adjusting the height of the oil spill recovery module from the water surface according to the distance value;
and step S300, when the central controller adjusts the height of the oil spill recovery module from the water surface to be a threshold value, triggering the rotating motor of the oil spill recovery module to operate so as to recover and treat the oil spill.
Specifically, the central controller determines the height of the spilled oil recovery module 200 from the water surface according to the distance value between the deck 101 and the water surface, when the central controller adjusts the height of the spilled oil recovery module 200 from the water surface to be a threshold value, spilled oil can flow into the conveyor belt 202 and cannot pass through the deck 101, and a person skilled in the art can reasonably set the threshold value according to actual conditions. After the height of the oil spill recovery module from the water surface is adjusted by the central controller, the central controller triggers the operation of the rotating motor 201, the rotating motor 201 drives the conveyor belt 202 to rotate so as to drive the oil-water separation sheet 205 on the conveyor belt 202 to convey the oil spill to the oil pumping pipe 204, and the oil spill enters the oil tank 203 through the oil pumping pipe 204, so that the oil spill recovery processing is performed.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (8)
1. An autonomous recovery system of marine oil pollution, characterized in that it comprises: the device comprises an aircraft body, an oil spill recovery module and a motion control module, wherein the oil spill recovery module and the motion control module are arranged on the aircraft body;
the main body of the aircraft is a small water plane catamaran with a variable structure, and the oil spill recovery module is used for recovering and treating oil spill when the oil spill on the water surface is determined; when the spilled oil recovery module recovers spilled oil, the spilled oil recovery module is in contact with the water surface, and the main body of the aircraft is converted into a trimaran from a small waterplane catamaran; the motion control module is used for controlling navigation of the aircraft body.
2. The autonomous recovery system of marine oil contamination according to claim 1, wherein the vehicle body comprises a deck, a pillar on both sides of the deck, two floats connected to the lower ends of the pillar on both sides of the deck, respectively, and a hull of circular arc shape connected to the upper ends of the pillar on both sides of the deck, the two floats being located below the deck, the hull of circular arc shape being located above the deck;
the motion control module comprises a central processing unit and a propeller, the propeller is connected with the central processing unit and arranged at the tail part of the floating body, and the propeller is used for responding to a control instruction of the central processing unit and driving the navigation of the aircraft main body.
3. The autonomous recovery system of marine oil contamination according to claim 2, wherein a single crystal flexible solar module is laid on the outer surface of the arc-shaped shell, and is connected with a lithium battery, and the lithium battery is respectively connected with the motion control module and the spilled oil recovery module.
4. The autonomous recovery system of marine oil contamination according to claim 2, characterized in that the motion control module is disposed inside the floating body, and the motion control module further comprises a communication module, a GPS module, a distance sensor, a laser radar, a sonar, an accelerometer, and a PWM module, which are respectively connected with a central processing unit.
5. The system for autonomously recovering the marine oil stain according to claim 4, wherein the spilled oil recovering module is arranged below the deck and comprises a rotary motor, a conveyor belt, an oil tank and an oil pumping pipe, oil-water separating sheets are fixedly arranged on the outer surface of the conveyor belt at equal intervals, the rotary motor is used for driving the conveyor belt to rotate, the oil pumping pipe is arranged on two sides of the conveyor belt, and the oil pumping pipe is communicated with the oil tank.
6. The autonomous recovery system of marine oil contamination according to claim 5, wherein an oil inlet of the oil pumping pipe is further provided with an oil-water separation membrane.
7. The autonomous recovery system of marine oil contamination according to claim 6, wherein a liquid level sensor is arranged at the top end inside the oil tank and connected with the central processing unit.
8. An autonomous recovery method of marine oil stains, applied to the autonomous recovery system of marine oil stains according to any one of claims 1 to 7, characterized by comprising the following steps:
s100, a propeller responds to a control instruction of a central processing unit and drives the navigation of the aircraft main body;
s200, when the central controller determines that oil spills on the water surface, acquiring a distance value between a distance sensor and the water surface, and adjusting the height of the oil spill recovery module from the water surface according to the distance value;
and step S300, when the central controller adjusts the height of the oil spill recovery module from the water surface to be a threshold value, triggering the rotating motor of the oil spill recovery module to operate so as to recover and treat the oil spill.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011162864.5A CN112376515A (en) | 2020-10-27 | 2020-10-27 | Autonomous recovery method and system for marine oil stain |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011162864.5A CN112376515A (en) | 2020-10-27 | 2020-10-27 | Autonomous recovery method and system for marine oil stain |
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| CN112376515A true CN112376515A (en) | 2021-02-19 |
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| CN202011162864.5A Pending CN112376515A (en) | 2020-10-27 | 2020-10-27 | Autonomous recovery method and system for marine oil stain |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114215023A (en) * | 2021-12-14 | 2022-03-22 | 中船航海科技有限责任公司 | Method for quickly recovering spilled oil based on navigation radar |
| WO2024069496A1 (en) * | 2022-09-27 | 2024-04-04 | Khodaparast Babak | Autonomous water vessel with oil-water separator |
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| WO2024069496A1 (en) * | 2022-09-27 | 2024-04-04 | Khodaparast Babak | Autonomous water vessel with oil-water separator |
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Effective date of registration: 20220107 Address after: 430000 jinfuxiang business building, No. 8 Jinyinhu street, Jinyinhu office, Dongxihu District, Wuhan City, Hubei Province 3094 Applicant after: Wuhan Lanjiang Intelligent Control Technology Co.,Ltd. Address before: 515063 Shantou University, Daxue Road, Shantou City, Guangdong Province Applicant before: SHANTOU University |
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Application publication date: 20210219 |