CN112896432A - Buoy for emergency treatment of inland river oil spill accidents and control method thereof - Google Patents

Buoy for emergency treatment of inland river oil spill accidents and control method thereof Download PDF

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Publication number
CN112896432A
CN112896432A CN202110265418.5A CN202110265418A CN112896432A CN 112896432 A CN112896432 A CN 112896432A CN 202110265418 A CN202110265418 A CN 202110265418A CN 112896432 A CN112896432 A CN 112896432A
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China
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buoy
module
signal
sends
chip microcomputer
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CN112896432B (en
Inventor
邓健
李尚宇
马泽泰
侯文波
齐乃旭
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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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 
    • B63B22/00—Buoys
    • B63B22/18—Buoys having means to control attitude or position, e.g. reaction surfaces or tether
    • B63B22/20—Ballast means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
    • B63B39/005—Equipment to decrease ship's vibrations produced externally to the ship, e.g. wave-induced vibrations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H1/00—Propulsive elements directly acting on water
    • B63H1/02—Propulsive elements directly acting on water of rotary type
    • B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
    • B63H1/14—Propellers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B2022/006—Buoys specially adapted for measuring or watch purposes
    • 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)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

An inland river oil spill tracking buoy, comprising: the buoy comprises a buoy body and a shore-based monitoring platform, wherein the buoy body is in a circular disc shape with thick middle and thin periphery, an image acquisition device is arranged at the front part of the buoy body, a buoy controller is arranged in the buoy body, and the output end of the image acquisition device is in signal connection with the image signal input end of the buoy controller; the power device is arranged at the rear part of the buoy body and is electrically connected with the buoy controller; and the buoy controller is in signal connection with the shore-based monitoring platform through a wireless network. This design not only can be in daytime survey the surface of water oil spill, realizes the real time monitoring to the oil spill condition, can transmit the demand of the surface of water oil spill image and control that returns according to video module, and the buoy removal is trailed in bank base control end remote control oil spill, trails the oil film, more can adapt to the complex environment of inland river.

Description

Buoy for emergency treatment of inland river oil spill accidents and control method thereof
Technical Field
The invention relates to a buoy, in particular to a buoy for emergency treatment of inland river oil spill accidents and a control method thereof, and is particularly suitable for tracking an inland river oil spill film.
Background
Because of the dependence of human beings on inland rivers, inland rivers are used as important sources of drinking water, domestic water and food in places where human beings work and live, and therefore, the maximum recovery of inland river oil spill is very important. The technical research of the prior oil spill buoy focuses on the sea, and due to the characteristics that the inland river has high flow velocity relative to the sea, the flow velocity changes violently, bends are more, the water depth changes obviously and the environment is more complex, the inland river oil spill tracking and collecting difficulty is higher, and the application limitation of the prior oil spill buoy on the inland river is relatively strong. The invention realizes the tracking and monitoring of the oil spilling film by the inland river oil spilling buoy system.
Disclosure of Invention
The invention aims to solve the problems that the prior buoy technology research aiming at oil spill accidents is concentrated on the sea and a buoy suitable for emergency treatment of inland river oil spill accidents is lacked in the prior art, and provides a buoy for emergency treatment of inland river oil spill accidents and a control method thereof.
In order to achieve the above purpose, the technical solution of the invention is as follows:
a buoy for emergency treatment of inland river oil spill accidents comprises: a buoy body and a shore-based monitoring platform,
the buoy is characterized in that the buoy body is in a circular disc shape with thick middle and thin periphery, an image acquisition device is arranged at the front part of the buoy body, a buoy controller is arranged in the buoy body, and the output end of the image acquisition device is in signal connection with the image signal input end of the buoy controller;
the power device is arranged at the rear part of the buoy body and is electrically connected with the buoy controller;
and the buoy controller is in signal connection with the shore-based monitoring platform through a wireless network.
The buoy body includes: the bottom of the upper shell cover is hermetically connected with the top of the watertight plate, and the top of the lower shell is hermetically connected with the bottom of the watertight plate;
the image acquisition device is arranged at the front part of the upper shell cover, and the floating mark controller is arranged in the upper shell cover;
the power device comprises a left driving motor, a right driving motor, a left propeller and a right helical propeller, the left driving motor is fixedly arranged in the lower shell, the left driving motor is electrically connected with the buoy controller, an output shaft of the left driving motor is in transmission fit with a rotating shaft of the left propeller, blades of the left propeller are positioned outside the lower shell, and the rotating shaft of the left propeller is in sealing fit with the lower shell through a sealing bearing;
the right driving motor is fixedly arranged in the lower shell, the right driving motor is electrically connected with the buoy controller, an output shaft of the right driving motor is in transmission fit with a rotating shaft of the right screw propeller, blades of the right screw propeller are positioned outside the lower shell, and the rotating shaft of the right screw propeller is in sealing fit with the lower shell through a sealing bearing;
and the rotating shaft of the left propeller and the rotating shaft of the right propeller are arranged in parallel.
The outer surface of the lower shell is of a spherical structure, a connecting flange is fixedly arranged at the top of the lower shell, the connecting flange and the lower shell are integrally arranged, the connecting flange is fixedly connected with the watertight plate through a connecting bolt, and the top of the connecting flange is in sealing fit with the bottom of the watertight plate.
The upper shell cover comprises a conical cover wall and a circular top cover which are integrally arranged, the bottom of the circular top cover is fixedly connected with the top of the conical cover wall, and the bottom of the conical cover wall is in sealing fit with the top of the watertight plate;
the image acquisition device is fixedly arranged at the front part of the circular top cover, and the outer wall of the image acquisition device is in sealing fit with the circular top cover;
the distance from the top of the circular top cover to the bottom surface of the watertight plate is 1/4 the diameter of the watertight plate, and the distance from the bottom of the lower shell to the top surface of the connecting flange is 1/4 the diameter of the watertight plate.
The outer surface of the buoy body is coated with oleophylic and hydrophobic paint.
The buoy controller comprises an AIS module, a GSM module, a GPS positioning module, a power control module and a single chip microcomputer;
the navigation aid control end of the single chip microcomputer is in signal connection with the control end of the AIS module;
the communication end of the single chip microcomputer is in signal connection with the communication end of the GSM module, and the GSM module is in signal connection with the shore-based monitoring platform through a wireless network;
the position signal input end of the single chip microcomputer is in signal connection with the output end of the GPS positioning module;
the power control end of the single chip microcomputer is in signal connection with the control signal input end of the power control module, the left motor signal output end of the power control module is electrically connected with the control end of the left driving motor, and the right motor signal output end of the power control module is electrically connected with the control end of the right driving motor;
and the image signal input end of the singlechip is in signal connection with the output end of the image acquisition device.
The inside of going up the cap is provided with power module, power module is image acquisition device, AIS module, GSM module, GPS orientation module, power control module and singlechip power supply.
The AIS module, the GSM module, the GPS positioning module, the power control module, the single chip microcomputer and the power supply module are uniformly fixed on the watertight plate;
and an annular balancing weight is fixedly arranged at the bottom of the lower shell.
A control method of a buoy for emergency treatment of inland river oil spill accidents comprises the following steps:
s1, oil spilling monitoring of the buoy: after the floating sample body is placed in an oil spilling area, the image acquisition device acquires an image signal of a water area where the floating sample body is located and sends the acquired image signal to the single chip microcomputer, the single chip microcomputer sends the image signal to the GSM module after receiving the image signal, and the GSM module receives the image signal and sends the image signal to the shore-based monitoring platform;
the shore-based monitoring platform sends forward or steering signals to the GSM module according to received image signals, the GSM module receives the forward or steering signals and sends the forward or steering signals to the single chip microcomputer, the single chip microcomputer sends forward or steering control signals to the power control module after receiving the forward or steering signals, the power control module controls the left driving motor and the right driving motor to rotate according to the received forward or steering control signals, the left driving motor and the right driving motor drive the left screw propeller and the right screw propeller to rotate, the buoy body is made to advance or steer, and oil spilling films are tracked;
s2, monitoring the position of the buoy: when the shore-based monitoring platform sends a positioning request to the GSM module, the GSM module sends the positioning request to the single chip microcomputer after receiving the positioning request, the single chip microcomputer sends a signal requesting positioning to the GPS positioning module after receiving the positioning request, the GPS positioning module sends position information to the single chip microcomputer after receiving the signal requesting positioning, the single chip microcomputer receives the position information sent by the GPS positioning module and sends the position information to the GSM module, and the GSM module sends the position information to the shore-based monitoring platform after receiving the position information;
s3, navigation aid control of the buoy:
the shore-based monitoring platform sends a navigation signal to the GSM module, the GSM module sends the navigation signal to the single chip microcomputer after receiving the navigation signal, the single chip microcomputer sends a signal requesting for positioning to the GPS positioning module after receiving the navigation signal, the GPS positioning module sends position information to the single chip microcomputer after receiving the signal requesting for positioning, and the single chip microcomputer receives the position information sent by the GPS positioning module and sends the received position information to the AIS module;
meanwhile, the singlechip 55 sends a control signal to the AIS module after receiving the navigation signal, and the AIS module broadcasts the position information of the buoy body to nearby ships after receiving the control signal, so that the collision between the buoy body and the nearby ships is avoided.
1. According to the buoy for emergency treatment of inland river oil spill accidents, the image acquisition device is arranged at the front part of the upper shell cover, the power device is arranged at the rear part of the lower shell body, the image acquisition device can observe water surface oil spill, real-time monitoring of oil spill conditions is achieved, and important reference data are provided for oil collecting operation; and power device can be according to the surface of water oil spilling image data of video module transmission and the demand of control, thereby control the oil spilling buoy at bank base monitoring platform remote control left and right screw and remove, trail the oil film, more can adapt to the complex environment of inland river. Therefore, the front part of the upper shell cover of the oil spilling buoy in the design is provided with the image acquisition device, and the rear part of the lower shell body is provided with the power device, so that the oil spilling buoy can adapt to the complex environment of an inland river.
2. The upper shell cover of the buoy for emergency treatment of inland river oil spill accidents comprises a conical cover wall and a circular top cover which are integrally arranged, the outer surface of a lower shell is a hemispherical surface, the whole oil spill buoy is in a circular disc shape with a thick middle and thin periphery, and the resistance of fluid to buoy movement is effectively reduced by virtue of a streamlined outer surface; the outer part of the buoy body is coated with oleophylic and hydrophobic coating, so that the buoy can be in full contact with an oil film and can track the moving track of the oil film more accurately. Therefore, the outer surface of the oil spilling buoy body in the design is in a circular disc shape, and oleophylic and hydrophobic coating is coated on the outer surface of the oil spilling buoy body, so that the moving track of an oil film can be accurately tracked.
3. The upper shell cover in the buoy for emergency treatment of inland river oil spill accidents is internally provided with an image acquisition device, a GSM module and a GPS positioning module, the GSM module feeds back a position signal acquired by the GPS positioning module and image data shot by the image acquisition device to a shore-based monitoring platform through wireless communication and a 4G network, the shore-based monitoring platform shell draws a track graph according to positioning points, monitors an oil film drifting track, analyzes the acquired corresponding image data and ensures safe and operable oil receiving operation. Therefore, in the design, an image acquisition device, a GSM module and a GPS positioning module are arranged in the upper shell cover, so that the drift track of the oil film is monitored, and the safe and operable operation of the oil collecting operation is ensured.
4. According to the buoy for emergency treatment of inland river oil spill accidents, the AIS module is arranged in the upper shell cover, and sends signals to nearby ships, so that collision with the nearby ships is avoided, other ships can recognize the buoy, and tracking of targets is facilitated. Therefore, the inside AIS module that is provided with of oil spilling buoy in this design helps other boats and ships to discern the buoy when avoiding colliding with near boats and ships to help the tracking target.
5. According to the buoy for emergency treatment of inland river oil spill accidents, the counter weight is fixedly arranged in the lower shell, and the AIS module, the GSM module, the GPS positioning module, the power control module and the single chip microcomputer are uniformly and fixedly arranged on the watertight plate, so that the whole oil spill buoy can be kept stable, and can be more suitable for complex working environments with high inland river flow speed, severe flow speed change and more curves. Therefore, the gravity center of the oil spilling buoy in the design is stable, and the buoy can be more suitable for the complex working environment with high inland river flow velocity, violent flow velocity change and more curves.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a right side view of fig. 1.
Fig. 3 is a front view of fig. 1.
Fig. 4 is a bottom view of fig. 1.
Fig. 5 is a schematic view of the internal structure of the upper housing cover in fig. 1.
Fig. 6 is a schematic view of the internal structure of the lower case cover of fig. 1.
Fig. 7 is a block diagram of an inland river spilled oil buoy system.
In the figure: go up cap 1, toper lid wall 11, circular top cap 12, lower casing 2, flange 21, connecting bolt 22, watertight board 3, image acquisition device 4, buoy controller 5, AIS module 51, GSM module 52, GPS orientation module 53, power control module 54, singlechip 55, power device 6, left driving motor 61, right driving motor 62, left screw 63, right screw 64, power module 7, annular balancing weight 8, oil spilling buoy body 9, shore base monitoring platform 10.
Detailed Description
The present invention will be described in further detail with reference to the following description and embodiments in conjunction with the accompanying drawings.
Referring to fig. 1 to 7, a buoy for emergency treatment of an inland river oil spill accident comprises: the buoy comprises a buoy body 9 and a shore-based monitoring platform 10, wherein the buoy body 9 is in a circular disc shape with thick middle and thin periphery, an image acquisition device 4 is arranged at the front part of the buoy body 9, a buoy controller 5 is arranged in the buoy body 9, and the output end of the image acquisition device 4 is in signal connection with the image signal input end of the buoy controller 5;
the rear part of the buoy body 9 is provided with a power device 6, and the power device 6 is electrically connected with the buoy controller 5;
the buoy controller 5 is in signal connection with a shore-based monitoring platform 10 through a wireless network.
The float body 9 includes: the watertight box comprises an upper shell cover 1, a lower shell 2 and a watertight plate 3, wherein the bottom of the upper shell cover 1 is hermetically connected with the top of the watertight plate 3, and the top of the lower shell 2 is hermetically connected with the bottom of the watertight plate 3;
the image acquisition device 4 is arranged at the front part of the upper shell cover 1, and the floating mark controller 5 is arranged in the upper shell cover 1;
the power device 6 comprises a left driving motor 61, a right driving motor 62, a left propeller 63 and a right propeller 64, the left driving motor 61 is fixedly arranged in the lower shell 2, the left driving motor 61 is electrically connected with the buoy controller 5, an output shaft of the left driving motor 61 is in transmission fit with a rotating shaft of the left propeller 63, blades of the left propeller 63 are positioned outside the lower shell 2, and the rotating shaft of the left propeller 63 is in sealing fit with the lower shell 2 through a sealing bearing;
the right driving motor 62 is fixedly arranged in the lower shell 2, the right driving motor 62 is electrically connected with the buoy controller 5, an output shaft of the right driving motor 62 is in transmission fit with a rotating shaft of the right propeller 64, blades of the right propeller 64 are positioned outside the lower shell 2, and the rotating shaft of the right propeller 64 is in sealing fit with the lower shell 2 through a sealing bearing;
the rotating shaft of the left propeller 63 is arranged in parallel with the rotating shaft of the right propeller 64.
The surface of lower casing 2 is spherical structure, and the fixed flange 21 that is provided with in top of lower casing 2, flange 21 sets up with lower casing 2 is integrative, and flange 21 passes through connecting bolt 22 and watertight board 3 fixed connection, and flange 21's top and watertight board 3's bottom are sealed to be cooperated.
The upper shell cover 1 comprises a conical cover wall 11 and a circular top cover 12 which are integrally arranged, the bottom of the circular top cover 12 is fixedly connected with the top of the conical cover wall 11, and the bottom of the conical cover wall 11 is in sealing fit with the top of the watertight plate 3;
the image acquisition device 4 is fixedly arranged at the front part of the circular top cover 12, and the outer wall of the image acquisition device 4 is in sealing fit with the circular top cover 12;
the distance from the top of the circular top cover 12 to the bottom surface of the watertight plate 3 is 1/4 of the diameter of the watertight plate 3, and the distance from the bottom of the lower case 2 to the top surface of the connecting flange 21 is 1/4 of the diameter of the watertight plate 3.
The outer surface of the buoy body 9 is coated with an oleophilic and hydrophobic coating.
The buoy controller 5 comprises an AIS module 51, a GSM module 52, a GPS positioning module 53, a power control module 54 and a single chip microcomputer 55;
the navigation aid control end of the singlechip 55 is in signal connection with the control end of the AIS module 51;
the communication end of the single chip microcomputer 55 is in signal connection with the communication end of the GSM module 52, and the GSM module 52 is in signal connection with the shore-based monitoring platform 10 through a wireless network;
the position signal input end of the single chip microcomputer 55 is in signal connection with the output end of the GPS positioning module 53;
the power control end of the single chip microcomputer 55 is in signal connection with the control signal input end of the power control module 54, the left motor signal output end of the power control module 54 is electrically connected with the control end of the left driving motor 61, and the right motor signal output end of the power control module 54 is electrically connected with the control end of the right driving motor 62;
the image signal input end of the single chip microcomputer 55 is in signal connection with the output end of the image acquisition device 4.
The inside of upper shell cover 1 is provided with power module 7, power module 7 is image acquisition device 4, AIS module 51, GSM module 52, GPS orientation module 53, power control module 54 and singlechip 55 power supply.
The AIS module 51, the GSM module 52, the GPS positioning module 53, the power control module 54, the single chip microcomputer 55 and the power supply module 7 are uniformly fixed on the watertight plate 3 in weight;
and an annular balancing weight 8 is fixedly arranged at the bottom of the lower shell 2.
A control method of a buoy for emergency treatment of inland river oil spill accidents comprises the following steps:
s1, oil spilling monitoring of the buoy: after the buoy body 9 is placed in an oil spilling area, the image acquisition device 4 acquires image signals of a water area where the buoy body 9 is located and sends the acquired image signals to the single chip microcomputer 55, the single chip microcomputer 55 receives the image signals and then sends the image signals to the GSM module 52, and the GSM module 52 receives the image signals and sends the image signals to the shore-based monitoring platform 10;
the shore-based monitoring platform 10 sends a forward or steering signal to the GSM module 52 according to the received image signal, the GSM module 52 receives the forward or steering signal and sends the forward or steering signal to the single chip microcomputer 55, the single chip microcomputer 55 sends a forward or steering control signal to the power control module 54 after receiving the forward or steering signal, the power control module 54 controls the left driving motor 61 and the right driving motor 62 to rotate according to the received forward or steering control signal, and the left driving motor 61 and the right driving motor 62 drive the left screw propeller 63 and the right screw propeller 64 to rotate, so that the buoy body 9 is advanced or steered to track the oil spill film;
s2, monitoring the position of the buoy: when the shore-based monitoring platform 10 sends a positioning request to the GSM module 52, the GSM module 52 sends the positioning request to the single-chip microcomputer 55 after receiving the positioning request, the single-chip microcomputer 55 sends a signal requesting positioning to the GPS positioning module 53 after receiving the positioning request, the GPS positioning module 53 sends position information to the single-chip microcomputer 55 after receiving the signal requesting positioning, the single-chip microcomputer 55 receives the position information sent by the GPS positioning module 53 and sends the position information to the GSM module 52, and the GSM module 52 sends the position information to the shore-based monitoring platform 10 after receiving the position information;
s3, navigation aid control of the buoy:
the shore-based monitoring platform 10 sends a navigation signal to the GSM module 52, the GSM module 52 sends the navigation signal to the single chip microcomputer 55 after receiving the navigation signal, the single chip microcomputer 55 sends a signal requesting positioning to the GPS positioning module 53 after receiving the navigation signal, the GPS positioning module 53 sends position information to the single chip microcomputer 55 after receiving the signal requesting positioning, and the single chip microcomputer 55 receives the position information sent by the GPS positioning module 53 and sends the received position information to the AIS module 51;
meanwhile, the singlechip 55 sends a control signal to the AIS module 51 after receiving the navigation signal, and the AIS module 51 broadcasts the position information of the buoy body 9 to nearby ships after receiving the control signal, so that the collision between the buoy body 9 and the nearby ships is avoided.
The principle of the invention is illustrated as follows:
the AIS is an Automatic Identification System (Automatic Identification System) ship Automatic Identification System;
the GSM, Global System for Mobile Communications;
the GPS, i.e. Global Positioning System.
The shore-based monitoring platform 10 is arranged on a computer or a mobile terminal and comprises a video monitoring system and a buoy control system.
The oleophylic and hydrophobic coating is coated outside the whole buoy body, so that the moving track of the oil film can be tracked more accurately.
The AIS module 51, the GSM module 52, the GPS positioning module 53, the power control module 54, the single chip microcomputer 55 and the power module 7 are fixedly arranged on the watertight plate 3 in a weight-even mode, namely the center of gravity of the whole formed by the watertight plate 3, the AIS module 51, the GSM module 52, the GPS positioning module 53, the power control module 54, the single chip microcomputer 55 and the power module 7 is close to the center of the circle of the watertight plate 3, and the center of gravity of the overflow buoy can be kept stable.
The whole oil spill buoy is in the shape of a circular disk with a high middle part and a low periphery, after the oil spill buoy is disturbed slightly in water, the transverse inclination angle of the oil spill buoy can be rapidly restored to the state before disturbance after certain fluctuation, a certain rotation angle is generated, the rotation angle is in direct proportion to the disturbance angle, the oil spill buoy has stability in water, and the large damping caused by the appearance of the whole wing body of the oil spill buoy is also beneficial to rapid restoration and stabilization of a system.
The height of the round dish-shaped oil spilling buoy is lower, the maximum lift-drag ratio of the round dish-shaped oil spilling buoy is higher, so that the height of a model is reduced as much as possible under the condition that the internal space allows, and a higher horizontal speed can be obtained; the thickness of the upper shell cover 1 and the lower shell 2 is 2 mm.
Example 1:
a buoy for emergency treatment of inland river oil spill accidents comprises: the buoy comprises a buoy body 9 and a shore-based monitoring platform 10, wherein the buoy body 9 is in a circular disc shape with thick middle and thin periphery, an image acquisition device 4 is arranged at the front part of the buoy body 9, a buoy controller 5 is arranged in the buoy body 9, and the output end of the image acquisition device 4 is in signal connection with the image signal input end of the buoy controller 5; the rear part of the buoy body 9 is provided with a power device 6, and the power device 6 is electrically connected with the buoy controller 5; the buoy controller 5 is in signal connection with a shore-based monitoring platform 10 through a wireless network; the float body 9 includes: the watertight box comprises an upper shell cover 1, a lower shell 2 and a watertight plate 3, wherein the bottom of the upper shell cover 1 is hermetically connected with the top of the watertight plate 3, and the top of the lower shell 2 is hermetically connected with the bottom of the watertight plate 3; the image acquisition device 4 is arranged at the front part of the upper shell cover 1, and the floating mark controller 5 is arranged in the upper shell cover 1; the power device 6 comprises a left driving motor 61, a right driving motor 62, a left propeller 63 and a right propeller 64, the left driving motor 61 is fixedly arranged in the lower shell 2, the left driving motor 61 is electrically connected with the buoy controller 5, an output shaft of the left driving motor 61 is in transmission fit with a rotating shaft of the left propeller 63, blades of the left propeller 63 are positioned outside the lower shell 2, and the rotating shaft of the left propeller 63 is in sealing fit with the lower shell 2 through a sealing bearing; the right driving motor 62 is fixedly arranged in the lower shell 2, the right driving motor 62 is electrically connected with the buoy controller 5, an output shaft of the right driving motor 62 is in transmission fit with a rotating shaft of the right propeller 64, blades of the right propeller 64 are positioned outside the lower shell 2, and the rotating shaft of the right propeller 64 is in sealing fit with the lower shell 2 through a sealing bearing; the rotating shaft of the left propeller 63 is parallel to the rotating shaft of the right propeller 64; the outer surface of the lower shell 2 is of a spherical structure, the top of the lower shell 2 is fixedly provided with a connecting flange 21, the connecting flange 21 and the lower shell 2 are integrally arranged, the connecting flange 21 is fixedly connected with the watertight plate 3 through a connecting bolt 22, and the top of the connecting flange 21 is in sealing fit with the bottom of the watertight plate 3; the upper shell cover 1 comprises a conical cover wall 11 and a circular top cover 12 which are integrally arranged, the bottom of the circular top cover 12 is fixedly connected with the top of the conical cover wall 11, and the bottom of the conical cover wall 11 is in sealing fit with the top of the watertight plate 3; the image acquisition device 4 is fixedly arranged at the front part of the circular top cover 12, and the outer wall of the image acquisition device 4 is in sealing fit with the circular top cover 12; the distance from the top of the circular top cover 12 to the bottom surface of the watertight plate 3 is 1/4 the diameter of the watertight plate 3, and the distance from the bottom of the lower shell 2 to the top surface of the connecting flange 21 is 1/4 the diameter of the watertight plate 3; the outer surface of the buoy body 9 is coated with an oleophilic and hydrophobic coating.
A control method of a buoy for emergency treatment of inland river oil spill accidents comprises the following steps:
s1, oil spilling monitoring of the buoy: after the buoy body 9 is placed in an oil spilling area, the image acquisition device 4 acquires image signals of a water area where the buoy body 9 is located and sends the acquired image signals to the single chip microcomputer 55, the single chip microcomputer 55 receives the image signals and then sends the image signals to the GSM module 52, and the GSM module 52 receives the image signals and sends the image signals to the shore-based monitoring platform 10;
the shore-based monitoring platform 10 sends a forward or steering signal to the GSM module 52 according to the received image signal, the GSM module 52 receives the forward or steering signal and sends the forward or steering signal to the single chip microcomputer 55, the single chip microcomputer 55 sends a forward or steering control signal to the power control module 54 after receiving the forward or steering signal, the power control module 54 controls the left driving motor 61 and the right driving motor 62 to rotate according to the received forward or steering control signal, and the left driving motor 61 and the right driving motor 62 drive the left screw propeller 63 and the right screw propeller 64 to rotate, so that the buoy body 9 is advanced or steered to track the oil spill film;
s2, monitoring the position of the buoy: when the shore-based monitoring platform 10 sends a positioning request to the GSM module 52, the GSM module 52 sends the positioning request to the single-chip microcomputer 55 after receiving the positioning request, the single-chip microcomputer 55 sends a signal requesting positioning to the GPS positioning module 53 after receiving the positioning request, the GPS positioning module 53 sends position information to the single-chip microcomputer 55 after receiving the signal requesting positioning, the single-chip microcomputer 55 receives the position information sent by the GPS positioning module 53 and sends the position information to the GSM module 52, and the GSM module 52 sends the position information to the shore-based monitoring platform 10 after receiving the position information;
s3, navigation aid control of the buoy:
the shore-based monitoring platform 10 sends a navigation signal to the GSM module 52, the GSM module 52 sends the navigation signal to the single chip microcomputer 55 after receiving the navigation signal, the single chip microcomputer 55 sends a signal requesting positioning to the GPS positioning module 53 after receiving the navigation signal, the GPS positioning module 53 sends position information to the single chip microcomputer 55 after receiving the signal requesting positioning, and the single chip microcomputer 55 receives the position information sent by the GPS positioning module 53 and sends the received position information to the AIS module 51;
meanwhile, the singlechip 55 sends a control signal to the AIS module 51 after receiving the navigation signal, and the AIS module 51 broadcasts the position information of the buoy body 9 to nearby ships after receiving the control signal, so that the collision between the buoy body 9 and the nearby ships is avoided.
Example 2:
example 2 is substantially the same as example 1 except that:
the buoy controller 5 comprises an AIS module 51, a GSM module 52, a GPS positioning module 53, a power control module 54 and a single chip microcomputer 55; the navigation aid control end of the singlechip 55 is in signal connection with the control end of the AIS module 51; the communication end of the single chip microcomputer 55 is in signal connection with the communication end of the GSM module 52, and the GSM module 52 is in signal connection with the shore-based monitoring platform 10 through a wireless network; the position signal input end of the single chip microcomputer 55 is in signal connection with the output end of the GPS positioning module 53; the power control end of the single chip microcomputer 55 is in signal connection with the control signal input end of the power control module 54, the left motor signal output end of the power control module 54 is electrically connected with the control end of the left driving motor 61, and the right motor signal output end of the power control module 54 is electrically connected with the control end of the right driving motor 62; the image signal input end of the singlechip 55 is in signal connection with the output end of the image acquisition device 4; the inside of upper shell cover 1 is provided with power module 7, power module 7 is image acquisition device 4, AIS module 51, GSM module 52, GPS orientation module 53, power control module 54 and singlechip 55 power supply.
Example 3:
example 3 is substantially the same as example 2 except that:
the AIS module 51, the GSM module 52, the GPS positioning module 53, the power control module 54, the single chip microcomputer 55 and the power supply module 7 are uniformly fixed on the watertight plate 3 according to weight; and an annular balancing weight 8 is fixedly arranged at the bottom of the lower shell 2.

Claims (9)

1. A buoy for emergency treatment of inland river oil spill accidents comprises: buoy body (9) and bank base monitoring platform (10), its characterized in that:
the buoy is characterized in that the buoy body (9) is in a circular disc shape with thick middle and thin periphery, an image acquisition device (4) is arranged at the front part of the buoy body (9), a buoy controller (5) is arranged inside the buoy body (9), and the output end of the image acquisition device (4) is in signal connection with the image signal input end of the buoy controller (5);
the rear part of the buoy body (9) is provided with a power device (6), and the power device (6) is electrically connected with the buoy controller (5);
the buoy controller (5) is in signal connection with the shore-based monitoring platform (10) through a wireless network.
2. The buoy for emergency treatment of inland river oil spill accidents according to claim 1, wherein:
the buoy body (9) comprises: the watertight box comprises an upper shell cover (1), a lower shell (2) and a watertight plate (3), wherein the bottom of the upper shell cover (1) is hermetically connected with the top of the watertight plate (3), and the top of the lower shell (2) is hermetically connected with the bottom of the watertight plate (3);
the image acquisition device (4) is arranged at the front part of the upper shell cover (1), and the floating mark controller (5) is arranged in the upper shell cover (1);
the power device (6) comprises a left driving motor (61), a right driving motor (62), a left propeller (63) and a right propeller (64), the left driving motor (61) is fixedly arranged in the lower shell (2), the left driving motor (61) is electrically connected with the buoy controller (5), an output shaft of the left driving motor (61) is in transmission fit with a rotating shaft of the left propeller (63), blades of the left propeller (63) are positioned outside the lower shell (2), and the rotating shaft of the left propeller (63) is in sealing fit with the lower shell (2) through a sealing bearing;
the right driving motor (62) is fixedly arranged in the lower shell (2), the right driving motor (62) is electrically connected with the floating mark controller (5), an output shaft of the right driving motor (62) is in transmission fit with a rotating shaft of the right propeller (64), blades of the right propeller (64) are positioned outside the lower shell (2), and the rotating shaft of the right propeller (64) is in sealing fit with the lower shell (2) through a sealing bearing;
the rotating shaft of the left propeller (63) is parallel to the rotating shaft of the right propeller (64).
3. The buoy for emergency treatment of inland river oil spill as claimed in claim 2, wherein:
the surface of casing (2) is spherical structure down, and the top of casing (2) is fixed and is provided with flange (21) down, flange (21) and casing (2) an organic whole down set up, and flange (21) pass through connecting bolt (22) and watertight fittings (3) fixed connection, and the top of flange (21) and the sealed cooperation in bottom of watertight fittings (3).
4. The buoy for emergency treatment of inland river oil spill accidents according to claim 3, wherein:
the upper shell cover (1) comprises a conical cover wall (11) and a circular top cover (12) which are integrally arranged, the bottom of the circular top cover (12) is fixedly connected with the top of the conical cover wall (11), and the bottom of the conical cover wall (11) is in sealing fit with the top of the watertight plate (3);
the image acquisition device (4) is fixedly arranged at the front part of the circular top cover (12), and the outer wall of the image acquisition device (4) is in sealing fit with the circular top cover (12);
the distance from the top of the circular top cover (12) to the bottom surface of the watertight plate (3) is 1/4 of the diameter of the watertight plate (3), and the distance from the bottom of the lower shell (2) to the top surface of the connecting flange (21) is 1/4 of the diameter of the watertight plate (3).
5. The buoy for emergency treatment of inland river oil spill accidents according to claim 4, wherein:
the outer surface of the buoy body (9) is coated with oleophilic and hydrophobic paint.
6. The buoy for emergency treatment of inland river oil spills according to claim 2, 3, 4 or 5, characterized in that:
the buoy controller (5) comprises an AIS module (51), a GSM module (52), a GPS positioning module (53), a power control module (54) and a single chip microcomputer (55);
the navigation aid control end of the single chip microcomputer (55) is in signal connection with the control end of the AIS module (51);
the communication end of the single chip microcomputer (55) is in signal connection with the communication end of the GSM module (52), and the GSM module (52) is in signal connection with the shore-based monitoring platform (10) through a wireless network;
the position signal input end of the singlechip (55) is in signal connection with the output end of the GPS positioning module (53);
the power control end of the single chip microcomputer (55) is in signal connection with the control signal input end of the power control module (54), the left motor signal output end of the power control module (54) is electrically connected with the control end of the left driving motor (61), and the right motor signal output end of the power control module (54) is electrically connected with the control end of the right driving motor (62);
the image signal input end of the singlechip (55) is in signal connection with the output end of the image acquisition device (4).
7. The buoy for emergency treatment of inland river oil spill accidents according to claim 6, wherein:
go up the inside of cap (1) and be provided with power module (7), power module (7) are image acquisition device (4), AIS module (51), GSM module (52), GPS orientation module (53), power control module (54) and singlechip (55) power supply.
8. The buoy for emergency treatment of inland river oil spill accidents according to claim 7, wherein:
the AIS module (51), the GSM module (52), the GPS positioning module (53), the power control module (54), the single chip microcomputer (55) and the power supply module (7) are uniformly fixed on the watertight plate (3) in weight;
and an annular balancing weight 8 is fixedly arranged at the bottom of the lower shell (2).
9. The method for controlling a buoy for emergency treatment of inland river oil spill according to claim 8, comprising the steps of:
s1, oil spilling monitoring of the buoy: after the buoy body (9) is thrown in an oil spilling area, the image acquisition device (4) acquires image signals of a water area where the buoy body (9) is located and sends the acquired image signals to the single chip microcomputer (55), the single chip microcomputer (55) sends the image signals to the GSM module (52) after receiving the image signals, and the GSM module (52) receives the image signals and sends the image signals to the shore-based monitoring platform (10);
the shore-based monitoring platform (10) sends a forward or steering signal to the GSM module (52) according to the received image signal, the GSM module (52) receives the forward or steering signal and sends the forward or steering signal to the single chip microcomputer (55), the single chip microcomputer (55) sends a forward or steering control signal to the power control module (54) after receiving the forward or steering signal, the power control module (54) controls the left driving motor (61) and the right driving motor (62) to rotate according to the received forward or steering control signal, and the left driving motor (61) and the right driving motor (62) drive the left screw propeller (63) and the right screw propeller (64) to rotate, so that the buoy body (9) advances or steers to track an oil spilling oil film;
s2, monitoring the position of the buoy: when the shore-based monitoring platform (10) sends a positioning request to the GSM module (52), the GSM module (52) receives the positioning request and then sends the positioning request to the single chip microcomputer (55), the single chip microcomputer (55) sends a signal requesting positioning to the GPS positioning module (53) after receiving the positioning request, the GPS positioning module (53) sends position information to the single chip microcomputer (55) after receiving the signal requesting positioning, the single chip microcomputer (55) receives the position information sent by the GPS positioning module (53) and sends the position information to the GSM module (52), and the GSM module (52) sends the position information to the shore-based monitoring platform (10) after receiving the position information;
s3, navigation aid control of the buoy:
the shore-based monitoring platform (10) sends a navigation signal to the GSM module (52), the GSM module (52) sends the navigation signal to the single chip microcomputer (55) after receiving the navigation signal, the single chip microcomputer (55) sends a signal requesting for positioning to the GPS positioning module (53) after receiving the navigation signal, the GPS positioning module (53) sends position information to the single chip microcomputer (55) after receiving the signal requesting for positioning, and the single chip microcomputer (55) receives the position information sent by the GPS positioning module (53) and sends the received position information to the AIS module (51);
meanwhile, the single chip microcomputer (55) sends a control signal to the AIS module (51) after receiving the navigation signal, and the AIS module (51) broadcasts the position information of the buoy body (9) to nearby ships after receiving the control signal, so that collision between the buoy body (9) and the nearby ships is avoided.
CN202110265418.5A 2021-03-11 2021-03-11 Buoy for emergency treatment of inland river oil spill accidents and control method thereof Active CN112896432B (en)

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