CN215752931U

CN215752931U - Offshore floating oil recovery robot

Info

Publication number: CN215752931U
Application number: CN202122316798.9U
Authority: CN
Inventors: 田雪虹; 何靖文; 黄秀颖; 刘海涛; 黄子鹏
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2021-09-24
Filing date: 2021-09-24
Publication date: 2022-02-08
Anticipated expiration: 2031-09-24

Abstract

The utility model discloses an offshore floating oil recovery robot which comprises a ship body, a propelling device, an oil collecting device and a control system, wherein the ship body is formed by mutually connecting the tails of two parallel monohulls, the front middle parts of the two parallel monohulls are provided with a double-hull structure with a certain distance space, the middle parts of the double hulls are provided with the oil collecting device, the tails of the double hulls are provided with the propelling device, the oil collecting device and the propelling device are respectively and electrically connected with the control system, and the control system controls the working states of the oil collecting device and the propelling device. The utility model realizes full-automatic unmanned high-efficiency recovery of offshore floating oil, can be suitable for shallow sea and offshore sea, and has higher maneuverability and sensitivity.

Description

Offshore floating oil recovery robot

Technical Field

The utility model relates to the field of offshore floating oil recovery, in particular to an offshore floating oil recovery robot.

Background

The current offshore floating oil recovery device basically adopts a large offshore floating oil recovery ship to operate, is suitable for wide sea surface, has higher difficulty when operating on some complex sea surfaces, and still has small-area petroleum residue on the sea surface after recovery, and has the following defects that: 1. the small-area floating oil can not be effectively recovered, so that certain economic loss and environmental pollution can be caused; 2. the large-scale floating oil recovery ship has poor maneuverability and sensitivity for operation on shallow sea and offshore ocean, difficult oil recovery operation and low economic benefit. Therefore, the research on the offshore floating oil recovery robot with high maneuverability has important significance for quickly and automatically cleaning the offshore floating oil by the system.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a marine floating oil recovery robot, which realizes full-automatic unmanned high-efficiency recovery of marine floating oil, can be suitable for shallow sea and offshore sea, and has higher maneuverability and sensitivity.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides an offshore floating oil recovery robot, includes hull, advancing device, receives oily device and control system, the hull is formed by the afterbody interconnect between two parallel monohulls, and the preceding middle part between its two parallel monohulls all keeps having the double hull structure in certain distance space, the middle part of double hull is equipped with receives oily device, and advancing device is equipped with to the afterbody, receive oily device and advancing device and be connected with control system electricity respectively, by control system control oil receiving device and advancing device's operating condition.

Furthermore, the upper part of the bow of the double-hull extends forwards in an inclined mode, and the stern of the double-hull is of a box type structure.

Further, oil collecting device, including oil absorption disc, frizing piece, sump oil tank and drive arrangement, the oil absorption disc is established in main axis of rotation, main axis of rotation both ends are established on a supporting bench through the bearing respectively, a supporting bench establishes the inside at two hulls, the side of oil absorption disc is equipped with the frizing piece, and the side of frizing piece is hugged closely in the side of oil absorption disc to the top side frizing end, the bottom side erection end of frizing piece is connected with banding oil collecting tank, and the front end of oil collecting tank and the mounting fixed connection on the hull, the rear end stretch to the sump oil tank and be connected with the sump oil tank, the drive arrangement who establishes in main axis of rotation and the hull is connected, drives the oil absorption disc rotation operation by drive arrangement drive main axis of rotation, main axis of rotation.

Further, the driving device is composed of a direct current motor, a worm wheel and a worm, the direct current motor drives the worm and the worm to drive the main rotating shaft through the worm wheel, the main rotating shaft drives the oil absorption disc to rotate, and the direct current motor is arranged in the double ship bodies.

Furthermore, the oil receiving tank is arranged in an inclined mode, and the front end of the oil receiving tank is high, and the rear end of the oil receiving tank is low.

Furthermore, the oil absorption discs are arranged on the main rotating shaft in an evenly spaced mode, and each oil absorption disc is provided with an oil scraping sheet corresponding to the oil absorption disc.

Further, the oil absorption disk is made of a lipophilic material.

Further, the lipophilic material is polypropylene, PVC or aluminum.

Furthermore, the propulsion device consists of two ROV-560KV-3KG-G underwater propellers arranged at the tails of the double hulls, and the ROV-560KV-3KG-G underwater propellers drive the propellers to rotate through the arranged motors.

And the control system is an ROS (reactive oxygen species) and comprises a floating oil identification module, an autonomous navigation module and an autonomous danger avoiding module, wherein the floating oil identification module, the autonomous navigation module and the autonomous danger avoiding module are mutually connected and control a motor of the ROV-560KV-3KG-G underwater propeller and a motor control system of a direct current motor of the oil absorption disc.

The utility model has the advantages that: the floating oil self-recognition device is simple in structure, low in production cost, suitable for small offshore oil recovery operation, suitable for shallow sea and offshore operation, good in maneuverability and sensitivity, and capable of achieving floating oil self-recognition, self-navigation and self-danger avoidance. The problem of at present to the recovery work of ocean floating oil use the recovery ship of ocean floating oil mostly, the size is big, the flexibility is not high, and the automation level is low, and is better to the treatment effect of the large-scale oil spilling accident of open sea area, nevertheless can not effectively retrieve to the floating oil of less area is solved.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a block diagram of the present invention;

FIG. 4 is a schematic view of a driving device according to the present invention;

FIG. 5 is a rear view of the present invention;

FIG. 6 is a schematic view of an oil recovery device of the present invention;

FIG. 7 is a schematic diagram of the hardware connections of the control system of the present invention;

FIG. 8 is a schematic circuit diagram of the control system of the present invention;

FIG. 9 is a software control flow diagram of the control system of the present invention.

In the figure: the device comprises a ship body 1, a propelling device 2, an oil suction disc 3, an oil scraping sheet 4, an oil collecting tank 5, a direct current motor 6, a worm wheel 7, a worm 8, a fixing part 9, an oil collecting groove 10 and a main rotating shaft 11.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-9, an offshore floating oil recovery robot comprises a hull 1, a propulsion device 2, an oil recovery device and a control system, wherein the hull 1 is formed by connecting tails of two parallel monohulls, the front middle parts of the two parallel monohulls are provided with a double-hull structure with a certain distance space, the middle parts of the double hulls are provided with the oil recovery device, the tails of the double hulls are provided with the propulsion device 2, the oil recovery device and the propulsion device 2 are respectively electrically connected with the control system, and the control system controls the working states of the oil recovery device and the propulsion device 2.

As shown in fig. 1 to 6, the double hulls are formed by welding aluminum alloy materials, the upper parts of the bow parts of the double hulls extend forwards in an inclined manner, the stern parts of the double hulls are in a box type structure, the bow parts are arranged in a shape that the upper parts of the bow parts extend forwards in an inclined manner, so that resistance in navigation can be reduced, and the arrangement of steering engines can be facilitated in the box type structure at the tail parts of the double hulls.

The oil collecting device comprises an oil absorbing disc 3, oil scraping sheets 4, an oil collecting tank 5 and a driving device, wherein the oil absorbing disc 3 is arranged on a main rotating shaft 11, two ends of the main rotating shaft 11 are respectively arranged on a supporting table through bearings, the supporting table is arranged inside a double-hull, the oil scraping sheets 4 are arranged on the side edges of the oil absorbing disc 3, the top side scraping ends of the oil scraping sheets 4 are tightly attached to the side surfaces of the oil absorbing disc 3 so as to be convenient for scraping floating oil absorbed on the rotating oil absorbing disc 3, the bottom side mounting ends of the oil scraping sheets 4 are connected with a strip-shaped oil collecting tank 10, the front end of the oil collecting tank 10 is fixedly connected with a fixing piece 9 on the hull 1, the rear end extends to the oil collecting tank 5 and is connected with the oil collecting tank 5, the floating oil scraped from the oil absorbing disc 3 flows into the oil collecting tank 5 through the oil collecting tank 10 for centralized treatment, and the main rotating shaft 11 is connected with the driving device arranged in the hull 1, the driving device drives the main rotating shaft 11, and the main rotating shaft 11 drives the oil absorption disc 3 to rotate.

As shown in fig. 4, the driving device is composed of a dc motor 6, a worm wheel 7 and a worm 8, the dc motor 6 drives the worm 8, the worm 8 drives a main rotating shaft 11 through the worm wheel 7, the main rotating shaft 11 drives the oil absorption disc 3 to rotate, so that the oil absorption disc 3 absorbs floating oil on the sea level, and the dc motor 6 is arranged in the double hulls.

As shown in fig. 6, the oil receiving groove 10 is inclined, and has a high front end and a low rear end, so that the floating oil scraped by the scraping blade 4 can flow and be collected to the oil collecting tank 5 at the lower end.

The oil absorption discs 3 are arranged on the main rotating shaft 11 at uniform intervals, and each oil absorption disc 3 is provided with an oil scraping sheet 4 corresponding to the oil absorption disc.

The oil absorption disc 3 is made of lipophilic materials, such as polypropylene, PVC or aluminum, floating oil on the sea surface is absorbed by the floating oil on the sea surface, the floating oil is absorbed on the surface of the rotating oil absorption disc 3, then the floating oil is taken out of the water surface along with the rotation of the oil absorption disc 3 and then is scraped off by the oil scraping sheet 4 and flows into the oil collection tank 5 from the oil receiving tank 10, the floating oil in the oil collection tank 5 is pumped into an oil storage container, and the oil absorption disc 3 is mainly suitable for occasions with low-concentration mixed oil and water, large diffusion area and thin oil layer, has high recovery rate, but is not suitable for occasions with high-concentration oil-water mixture and thick oil layer.

The propulsion device 2 consists of two ROV-560KV-3KG-G underwater propellers arranged at the tails of the double hulls, the ROV-560KV-3KG-G underwater propellers drive propellers to rotate through the arranged motors, the output of the motors is controlled through a control system, and then the rotation direction and speed of the ROV-560KV-3KG-G underwater propellers are controlled, so that the motions such as steering are realized, the propulsion device 2 can also adopt a conventional technology, and the function of the propulsion device can be realized only by pushing the hull 1 to move forwards and being remotely controlled by the control system (not shown).

As shown in fig. 7, 8 and 9, the control system is an ROS and comprises a floating oil identification module, an autonomous navigation module and an autonomous danger avoiding module, the floating oil identification module, the autonomous navigation module and the autonomous danger avoiding module are connected with each other, and the motor control system is realized by an STM32f407zgt6 single chip microcomputer through analysis of a motion state and control of a motor of an ROV-560KV-3KG-G underwater thruster and a direct current motor 6 of an oil absorption disc 3. The floating oil identification module, the autonomous navigation module and the autonomous danger avoiding module are realized through ROS, the offshore floating oil recovery robot can realize autonomous work, and the floating oil recovery robot has the functions of floating oil autonomous identification, autonomous navigation and autonomous danger avoiding.

The motor control system is composed of three parts, namely a hardware execution layer, an application function layer and an upper computer interaction layer.

(1) Hardware implementation layer the hardware implementation layer includes the use of stm32, the use of lidar, motor drives, camera data acquisition, and the use of imu sensors. The unmanned ship control hardware system mainly comprises a navigation positioning module, a man-machine interaction module, a motor control module, a 4G communication module and the like, and STM32F103 is selected as a main control core. The laser radar is used for acquiring information of nearby obstacles, including the distance and the position of the obstacles; the motor drive is used for offshore operation, and the error of the code disc is too large, so that the use of the code disc is abandoned, and the odometer calculation of the robot is completed through the imu module and the GPS module; the camera can transmit the collected data back to the robot end, and then further data processing is carried out.

(2) The application function layer is characterized in that a Jetson Nano development board of England is used as a hardware platform, the Jetson Nano development board is loaded with a 4-core Cortex-A57CPU, a Maxwell architecture video card with the smallest scale is selected as a GPU, only 128 CUDA units are adopted, and a 4GB LPDDR4 memory is provided. The development board of great was equipped with the ubuntu system and installed the necessary software modules such as ROS and opencv. The running function module is divided into five functions, namely an imu module, an SLAM module, an autonomous navigation module and a vision module. The imu module is used for acquiring the attitude, the acceleration and the angular velocity of the robot, the SLAM module is used for environment mapping, the autonomous navigation module is used for path planning and autonomous navigation, and the vision module is used for capturing the position of oil slick.

(3) And the computer interaction layer comprises the interactive communication of a master computer and a slave computer in an ROS communication mechanism, and the robot can be remotely monitored and controlled by setting the robot as the master computer and setting the PC end of the computer as the slave computer, so that the robot can be prevented from being lost.

The hardware scheme is as follows: in the bottom layer drive of the robot, the PWM output is adopted to control the speed of a motor of the robot, and because the working environment is in water and the error of a code disc in the water is large, the data of the code disc in the motor is abandoned, and an imu module and a GPS are adopted to control the posture and feed back the position of the robot. At an industrial personal computer end, a Jetson Nano development board of England is adopted for ROS development and use, data communication of a camera, a laser radar and a JY901B attitude sensor is completed through a USB interface of the industrial personal computer, in addition, data transmission needs to be carried out on an stm32 development board at the industrial personal computer end, and the Jetson Nano development board is connected with an stm32 development board through a USB-to-TTL module, so that the speed of the motor speed is controlled.

The software scheme comprises the following steps: the robot in the present invention is a fully automatic intelligent robot, but it also requires human monitoring, and therefore wireless communication between the robot and the PC is indispensable.

(1) A simulation platform: in order to help developers to better use ROS, the developers of ROS provide interfaces of some simulation software, firstly, solidworks is used for modeling a three-dimensional model, secondly, a urdf file is exported from the model completed in the solidworks, and then real objects can be simulated on platforms such as rviz, vrep or gazebo and the like, so that the development difficulty of the robot is reduced.

(2) Wireless multi-machine communication: besides providing common serial port communication in the ROS, an SSH protocol is provided for us to carry out remote communication, so that communication between a PC end and the robot is realized.

(3) A vision system: the position of the floating oil in the image can be obtained by processing the image acquired by the camera of the robot, and then the coordinate of the floating oil in a map built in an SLAM module is obtained through the coordinate conversion of TF in ROS, so that the autonomous navigation is realized.

(4) SLAM autonomous navigation system: the part is mainly used for establishing a map, in the part, point cloud data acquired by a laser radar is mainly relied on, information of modules such as a speedometer and a GPS is fused, and finally an incremental map is integrated through an algorithm and real-time pose estimation of the robot is carried out.

The utility model can realize full-automatic unmanned offshore floating oil recovery work, has the functions of floating oil autonomous identification, autonomous navigation and autonomous danger evasion, improves the work efficiency, reduces the risk generated by manual operation, is suitable for shallow sea and offshore sea, can operate on relatively complex sea surfaces, and has higher maneuvering performance and sensitivity.

The control system may be a control system that controls the operation state of the oil recovery device and the propulsion device 2 by using a known technique.

The above embodiments are only for illustrating and not limiting the technical solutions of the present invention. Any modification or partial replacement by a person skilled in the art without departing from the spirit of the present invention shall be covered by the scope of the claims of the present invention.

Claims

1. The utility model provides a marine oil slick recovery robot, includes hull (1), advancing device (2), receives oily device and control system, its characterized in that: the ship body (1) is formed by mutually connecting the tails of two parallel monohull ships, a double-hull structure with a certain distance space is kept in the front middle part between the two parallel monohull ships, an oil receiving device is arranged in the middle of the double-hull, a propelling device (2) is arranged at the tail of the double-hull, the oil receiving device and the propelling device (2) are respectively and electrically connected with a control system, and the control system controls the working states of the oil receiving device and the propelling device (2).

2. The offshore floating oil recovery robot of claim 1, wherein: the upper parts of the bows of the double hulls extend forwards in an inclined mode, and the stern of the double hulls is of a box type structure.

3. The offshore floating oil recovery robot of claim 1, wherein: oil collecting device, including oil absorption disc (3), frizing piece (4), oil sump tank (5) and drive arrangement, oil absorption disc (3) are established on main axis of rotation (11), main axis of rotation (11) both ends are established on the brace table through the bearing respectively, the inside at two hulls is established to the brace table, the side of oil absorption disc (3) is equipped with frizing piece (4), and the side of frizing piece (4) is scraped the sword end and is hugged closely in the side of oil absorption disc (3), the bottom side erection end of frizing piece (4) is connected with banding oil collecting tank (10), and the front end of oil collecting tank (10) and mounting (9) fixed connection on hull (1), the rear end stretch to oil sump tank (5) and be connected with oil sump tank (5), main axis of rotation (11) are connected with the drive arrangement who establishes in hull (1), by drive arrangement drive main axis of rotation (11), The main rotating shaft (11) drives the oil absorption disc (3) to rotate and operate.

4. The offshore floating oil recovery robot of claim 3, wherein: the driving device is composed of a direct current motor (6), a worm wheel (7) and a worm (8), the direct current motor (6) drives the worm (8) and the worm (8) to drive a main rotating shaft (11) and the main rotating shaft (11) to drive the oil absorption disc (3) to rotate through the worm wheel (7), and the direct current motor (6) is arranged in the double ship bodies.

5. The offshore floating oil recovery robot of claim 3, wherein: the oil receiving tank (10) is arranged in an inclined mode, and the front end of the oil receiving tank is high, and the rear end of the oil receiving tank is low.

6. The offshore floating oil recovery robot of claim 3, wherein: the oil absorption discs (3) are arranged on the main rotating shaft (11) at uniform intervals, and each oil absorption disc (3) is provided with an oil scraping sheet (4) corresponding to the oil scraping sheet.

7. The offshore floating oil recovery robot of claim 3 or 6, wherein: the oil absorption disk (3) is made of a lipophilic material.

8. The offshore floating oil recovery robot of claim 7, wherein: the lipophilic material is polypropylene, PVC or aluminum.

9. The offshore floating oil recovery robot of claim 1, wherein: the propulsion device (2) consists of two ROV-560KV-3KG-G underwater propellers arranged at the tails of the double hulls, and the ROV-560KV-3KG-G underwater propellers drive propellers to rotate through the arranged motors.

10. The offshore floating oil recovery robot of claim 1, wherein: the control system is an ROS (reactive oxygen species), and comprises a floating oil identification module, an autonomous navigation module and an autonomous danger avoiding module, wherein the floating oil identification module, the autonomous navigation module and the autonomous danger avoiding module are mutually connected and control a motor of an ROV-560KV-3KG-G underwater propeller and a motor control system of a direct current motor (6) of an oil absorption disc (3).