WO2022073391A1 - 一种海上应急救援过驳系统 - Google Patents

一种海上应急救援过驳系统 Download PDF

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Publication number
WO2022073391A1
WO2022073391A1 PCT/CN2021/113466 CN2021113466W WO2022073391A1 WO 2022073391 A1 WO2022073391 A1 WO 2022073391A1 CN 2021113466 W CN2021113466 W CN 2021113466W WO 2022073391 A1 WO2022073391 A1 WO 2022073391A1
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WO
WIPO (PCT)
Prior art keywords
water
rescue
drilling
equipment
transfer
Prior art date
Application number
PCT/CN2021/113466
Other languages
English (en)
French (fr)
Inventor
周春辉
钟佳豪
李成
李靖
丁忆然
Original Assignee
武汉理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 武汉理工大学 filed Critical 武汉理工大学
Publication of WO2022073391A1 publication Critical patent/WO2022073391A1/zh
Priority to US17/880,673 priority Critical patent/US20220371698A1/en

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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 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/30—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/30—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures
    • B63B27/34—Arrangement of ship-based loading or unloading equipment for transfer at sea between ships or between ships and off-shore structures using pipe-lines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/26—Cast or life lines; Attachments thereto; Containers therefor; Rescue nets or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C9/00—Life-saving in water
    • B63C9/28—Adaptations of vessel parts or furnishings to life-saving purposes
    • 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
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled

Definitions

  • the invention relates to the technical field of ship transfer control at sea, in particular to a sea emergency rescue transfer system.
  • the invention provides a marine emergency rescue transfer system, comprising a water navigation robot, an automatic lifting device, a fixed sealing device, a remote control gripper, rescue equipment, a rescue terminal and a remote control terminal;
  • An adsorption device for adsorbing and fixing with the accident ship is installed on one side of the water navigation robot, the automatic lifting device is installed on the water navigation robot, the fixed sealing device is installed on the automatic lifting device, and the automatic lifting device is installed on the automatic lifting device.
  • the fixed sealing device includes a box body and a vacuum pump, and the box body is provided with a cavity; the suction end of the vacuum pump is communicated with the cavity, and the outlet end of the vacuum pump is communicated with an external ventilation pipe, the
  • the outer wall of the box body is also provided with an adsorption hole communicating with the cavity; the vacuum pump is used to extract air or water in the cavity, so as to use atmospheric pressure or water pressure to fix the box body on the accident ship ;
  • the rescue equipment is placed in the fixed sealing device, and the remote control gripper is installed on the automatic lifting device, and is used for grabbing the rescue equipment for transfer operation;
  • the water navigation robot, the adsorption device, the automatic lifting device, the vacuum pump, the remote control gripper and the rescue equipment are respectively electrically connected with the rescue terminal, and the rescue terminal is wirelessly connected with the remote control terminal.
  • the adsorption device is an electromagnet.
  • the automatic lifting device includes a platform, a telescopic unit, a rotating unit, a lifting unit, a winch, a sling and a lowering motor;
  • the lifting unit is installed on the water navigation robot, the rotating unit is installed on the lifting end of the lifting unit, the telescopic unit is installed on the rotating end of the rotating unit, and the platform is installed on the telescopic unit The telescopic end of the fixed sealing device is installed on the platform;
  • the winch is installed on the water navigation robot, and the platform is also connected with the winch through a sling, and the winch is drive-connected with the output shaft of the descending motor;
  • the telescopic unit, the rotating unit, the lifting unit and the lowering motor are respectively electrically connected with the rescue terminal.
  • the water navigation robot includes a U-shaped end, the winch is installed inside the U-shaped end, and the platform is arranged in the U-shaped end.
  • a U-shaped sliding rail is installed on the U-shaped end of the water navigation robot, a counterweight is installed on the sliding rail, and an electronically controlled pulley is installed at the connection between the counterweight and the sliding rail, The counterweight is slidably connected to the slide rail through the electronically controlled pulley;
  • the electric control pulley is electrically connected with the rescue terminal.
  • the fixed sealing device further includes a drainage device, and the drainage device includes a drainage pump, a drainage pipeline, a water pumping pipeline and a drainage valve;
  • the box body is provided with a drainage hole
  • the water pumping pipe is located in the box body and communicated with the drainage hole through the drainage pump
  • the drainage pipe is located outside the box and communicated with the drainage hole
  • the drainage valve is installed on the drainage pipeline and/or the water pumping pipeline;
  • the drain pump and the drain valve are respectively electrically connected with the rescue terminal.
  • the rescue equipment includes drilling equipment, electric welding equipment, sealing steel plates and transfer pipelines;
  • the remote control gripper is used for grabbing the drilling equipment, and the drilling equipment is used for drilling holes on the accident ship as a barge hole;
  • the remote control gripper is used to grab the barge pipeline and extend the barge pipeline into the barge hole, so as to connect the accident ship and the rescue mother ship; the remote control gripper is also used to After completion, retract the transfer pipeline;
  • the remote control gripper is used for grabbing the sealing steel plate and inserting the sealing steel plate into the transit hole;
  • the remote control gripper is also used for grasping the electric welding equipment, and the electric welding equipment is used for welding the sealing steel plate on the barge hole, so as to block the barge hole.
  • the drilling equipment is a water jet drilling machine
  • the water jet drilling machine includes a high-pressure water generating device, a water pumping pipe, a water drilling gun, a high-pressure water pipe and a camera;
  • the water inlet end of the high pressure water generating device is communicated with the water pumping pipe, and the water outlet end of the high pressure water generating device is communicated with the water drilling gun through the high pressure water pipe;
  • the camera is installed in the water drilling hole on the gun, and the camera and the water drilling gun are arranged in the same direction;
  • the camera and the water drilling gun are respectively electrically connected to the rescue terminal.
  • the cooling device is used to cool the accident ship
  • the cooling device includes an onboard water pump, a compressed water tank, a water pipe and a spray head; the onboard water pump is communicated with the compressed water tank, and the compressed water tank is communicated with the spray head through the water pipe; Extract seawater for compression, and then spray cooling water mist to cool the accident ship;
  • the onboard water pump is electrically connected to the rescue terminal.
  • a plurality of monitoring cameras are also installed on the water navigation robot, and the plurality of monitoring cameras are respectively electrically connected to the rescue terminal.
  • the water navigation robot in the present invention is used to transport rescue equipment to a designated position near the accident ship.
  • the fixed sealing device is used to fix the working platform on the automatic lifting device to the side of the accident ship, so as to facilitate the rescue operation of the rescue equipment.
  • the automatic lifting device is used to realize the lifting control of the fixed sealing device, so as to realize the rescue operation on the water or underwater.
  • the remote control gripper is used to grab the rescue equipment for transfer operation to realize rescue transfer.
  • the remote control terminal sends remote control commands to command each part of the operation through the wireless network, and the rescue terminal receives the remote control commands and controls each part to perform rescue operations.
  • the invention uses the water navigation robot and the remote manipulation technology to carry out the barge operation, which can not only effectively protect the personal safety of the rescuers, but also improve the rescue efficiency and reduce the economic loss after the accident of the dangerous chemical ship.
  • FIG. 1 is a top view of the system architecture of the first embodiment of the marine emergency rescue transfer system provided by the present invention
  • FIG. 2 is a side view of the system architecture of the first embodiment of the marine emergency rescue transfer system provided by the present invention
  • FIG. 3 is a schematic structural diagram of an embodiment of the fixed sealing device in FIG. 1;
  • FIG. 4 is a schematic structural diagram of an embodiment of the automatic lifting device in FIG. 1;
  • Fig. 5 is the installation structure schematic diagram of the automatic lifting device in Fig. 3;
  • FIG. 6 is a schematic diagram of the connection relationship between the slide rail and the counterweight block in the first embodiment of the marine emergency rescue transfer system provided by the present invention
  • FIG. 7 is a schematic structural diagram of a counterweight block of the first embodiment of the marine emergency rescue transfer system provided by the present invention.
  • FIG. 8 is a schematic structural diagram of the drainage device of the first embodiment of the marine emergency rescue transfer system provided by the present invention.
  • Fig. 9 is the position distribution schematic diagram of rescue equipment in the fixed sealing device of the first embodiment of the marine emergency rescue transfer system provided by the present invention.
  • FIG. 10 is a schematic structural diagram of the electric welding equipment of the first embodiment of the marine emergency rescue transfer system provided by the present invention.
  • FIG. 11 is a schematic diagram of the installation structure of the remote control gripper of the first embodiment of the marine emergency rescue transfer system provided by the present invention.
  • FIG. 12 is a schematic diagram of the installation structure of the filling auxiliary device of the first embodiment of the marine emergency rescue transfer system provided by the present invention.
  • FIG. 13 is a schematic structural diagram of the drilling equipment of the first embodiment of the offshore emergency rescue transfer system provided by the present invention.
  • FIG. 14 is a schematic structural diagram of a control valve in a pipeline of the first embodiment of the marine emergency rescue transfer system provided by the present invention.
  • Fig. 15a is a schematic structural diagram of one end of the extension pipe interface of the first embodiment of the marine emergency rescue transfer system provided by the present invention.
  • 15b is a schematic structural diagram of the other end of the extension pipeline interface of the first embodiment of the marine emergency rescue transfer system provided by the present invention.
  • 16a is a first application scenario diagram of the first embodiment of the marine emergency rescue transfer system provided by the present invention.
  • Fig. 16b is a second application scenario diagram of the first embodiment of the marine emergency rescue transfer system provided by the present invention.
  • Embodiment 1 of the present invention provides a marine emergency rescue transfer system, hereinafter referred to as the system, including a water navigation robot 1, an automatic lifting device 2, a fixed sealing device 3, a remote control grabber Hand 4, rescue equipment, rescue terminal 6 and remote control terminal;
  • the fixed sealing device 3 includes a box body 31 and a vacuum pump 32.
  • the box body 31 is provided with a cavity 311; the suction end of the vacuum pump 32 is communicated with the cavity 311, so The outlet end of the vacuum pump 32 is communicated with the external ventilation pipe 321, and the outer wall of the box body 31 is also provided with an adsorption hole that communicates with the cavity 311; the vacuum pump 32 is used to extract the cavity 311.
  • the rescue equipment is placed in the fixed sealing device 3, and the remote control gripper 4 is installed on the automatic on the lifting device 2, and used for grabbing the rescue equipment for transfer operation;
  • the water navigation robot 1, the adsorption device 11, the automatic lifting device 2, the vacuum pump 32, the remote control gripper 4 and the rescue equipment are respectively electrically connected to the rescue terminal 6, and the rescue terminal 6 is wirelessly connected to the remote control terminal.
  • the water navigation robot 1 is used to transport the fixed sealing device 3 and rescue equipment (eg, water drilling equipment 51 , transfer pipeline 54 , etc.) to a designated position near the accident ship 10 .
  • the fixed sealing device 3 is a vacuum type fixed sealing device 3, which is used for fixing the working platform 21 on the automatic lifting device 2 to the side of the accident ship 10.
  • the automatic lifting device 2 is used to realize the lifting control of the fixed sealing device 3, so as to realize the rescue operation on water or underwater.
  • the liquid hazardous chemicals in the tank are transferred to the connecting barge 30 through the transfer pipeline 54, etc., so as to realize the rescue transfer.
  • the remote control terminal sends remote control commands to command each part to operate through the wireless network, and the rescue terminal 6 receives the remote control commands and controls each part to perform rescue operations. Both the remote control terminal and the rescue terminal 6 can be realized by using an industrial computer, a computer, or the like.
  • one end of the vacuum pump 32 is connected to the compartment of the box body 31 , the other end is connected to the external ventilation pipe 321 , and both ends have air valves 322 .
  • the air pipe installed on the vacuum pump 32 and the orifice is a flexible hose, which can be bent and has a diameter of 4 inches (about 101.6mm).
  • the top of the air pipe has a floating ring, so that the air port can be placed on the water surface.
  • the material of the rubber sealing ring of the vacuum pump 32 can be silicone rubber, nitrile rubber or other high temperature resistant soft materials that can be used for sealing.
  • the main function of the vacuum pump 32 is to draw out the air in the compartment of the box body 31, and use the atmospheric pressure or water pressure to fix the fixed sealing device 3 on the accident ship 10.
  • the present invention proposes a new marine emergency rescue transfer system for ships of liquid hazardous chemicals.
  • the use of robots and remote control technology for barge operations can not only effectively protect the personal safety of rescuers, but also improve rescue efficiency and reduce economic losses after accidents involving hazardous chemical ships.
  • the adsorption device 11 is an electromagnet.
  • the water navigation robot 1 is adsorbed on the accident ship 10 by the electromagnet, and the on/off of the electromagnet is controlled by the rescue terminal 6, so that the adsorption and disconnection of the water navigation robot 1 and the accident ship 10 can be controlled.
  • the automatic lifting device 2 includes a platform 21, a telescopic unit 22, a rotating unit 23, a lifting unit 24, a winch 25, a sling 26 and a lowering motor;
  • the elevating unit 24 is installed on the water navigation robot 1, the rotating unit 23 is installed on the elevating end of the elevating unit 24, the telescopic unit 22 is installed on the rotating end of the rotating unit 23, and the platform 21 is installed on the telescopic end of the telescopic unit 22, and the fixed sealing device 3 is installed on the platform 21;
  • the winch 25 is installed on the water navigation robot 1, and the platform 21 is also connected to the winch 25 through a sling 26, and the winch 25 is drivingly connected to the output shaft of the descending motor;
  • the telescopic unit 22 , the rotating unit 23 , the lifting unit 24 and the lowering motor are respectively electrically connected to the rescue terminal 6 .
  • the function of the automatic lifting device 2 is to lift the working platform 21 to the drilling position when rescue operations such as water drilling are required.
  • the telescopic unit 22, the rotating unit 23, and the lifting unit 24 can all be realized by existing technologies.
  • the telescopic unit 22 can be realized by an electric push rod
  • the rotating unit 23 can be realized by a rotating motor
  • the lifting unit 24 can be realized by a cylinder.
  • the lowering motor is to realize the lowering of the working platform 21.
  • the rotation of the lowering motor drives the winch 25 to rotate, and the rotation of the winch 25 realizes the retraction and release of the sling 26.
  • the descending control of the working platform 21 is realized.
  • the water navigation robot 1 includes a U-shaped end, the winch 25 is installed inside the U-shaped end, and the platform 21 is arranged in the U-shaped end.
  • the arrangement of the U-shaped end facilitates the installation and lifting control of the lifting platform 21 .
  • a U-shaped slide rail 71 is installed on the U-shaped end of the water navigation robot 1 , and a counterweight block 72 is installed on the slide rail 71 .
  • 72 and the sliding rail 71 are connected with an electronically controlled pulley 73, and the counterweight 72 is slidably connected to the sliding rail 71 through the electronically controlled pulley 73;
  • the electric control pulley 73 is electrically connected to the rescue terminal 6 .
  • the underside of the counterweight block 72 is provided with an electronically controlled pulley 73 that can move in the slide rail 71 , and the center of gravity and stability of the ship can be adjusted by controlling the sliding of the counterweight block 72 .
  • the fixed sealing device 3 further includes a drainage device, and the drainage device includes a drainage pump 33 , a drainage pipe 34 , a drainage pipe 512 35 and a drainage valve;
  • the box body 31 is provided with a drainage hole, the water suction pipes 512 and 35 are located in the box body 31 and communicate with the drainage hole through the drainage pump 33 , and the drainage pipe 34 is located in the box body 31 outside, and communicated with the drainage hole, the drainage valve is installed on the drainage pipe 34 and/or the water pipe 512 and 35;
  • the drain pump 33 and the drain valve are respectively electrically connected to the rescue terminal 6 .
  • the water in the operation space of the rescue equipment is extracted through the water suction pipe 512 of the drainage device.
  • the water is drained through the drain pipe 34 and the drain hole, which facilitates the use of rescue equipment and the grasping of the remote control gripper 4 .
  • the rescue equipment includes drilling equipment 51 , electric welding equipment 52 , sealing steel plate 57 and transfer pipeline 54 ;
  • the remote control gripper 4 is used to grab the drilling equipment 51, and the drilling equipment 51 is used to drill holes on the accident ship 10 as a barge hole;
  • the remote control gripper 4 is used to grab the barge pipeline 54 and extend the barge pipeline 54 into the barge hole, so as to connect the accident ship 10 and the rescue mother ship 20; the remote control gripper 4 It is also used to recover the transfer pipeline 54 after the transfer is completed;
  • the remote control gripper 4 is used to grab the sealing steel plate 57 and insert the sealing steel plate 57 into the transit hole;
  • the remote gripper 4 is also used for grasping the electric welding equipment 52 , and the electric welding equipment 52 is used for welding the sealing steel plate 57 on the transit hole, so as to block the transit hole.
  • the drilling equipment 51 uses an ultra-high pressure water jet drilling machine to perform drilling operations on the side bulkhead of the accident ship 10 .
  • the remote control gripper 4 is used to grab the extension pipe and insert it into the borehole, so that the liquid hazardous chemicals in the tank of the accident ship 10 are transferred to the barge 30 .
  • the electric welding equipment 52 seals the drilled hole by electric welding the sealing plate.
  • the rescue equipment also includes a filling auxiliary device 53, which is used to assist in the installation of the drilling equipment 51 and each pipeline.
  • a filling auxiliary device 53 which is used to assist in the installation of the drilling equipment 51 and each pipeline.
  • Each pipeline and pipeline filling device are combined into a whole, and the filling auxiliary device 53 is installed in the fixed sealing device 3 on the inner top wall.
  • the drilling equipment 51 is a water jet drilling machine, and the water jet drilling machine includes a high pressure water generating device 52 , a water pumping pipe 512 , a water drilling gun 513 , a high pressure water pipe 514 and camera515;
  • the water inlet end of the high pressure water generating device 52 is communicated with the water pumping pipe 512, and the water outlet end of the high pressure water generating device 52 is communicated with the water drilling gun 513 through the high pressure water pipe 514;
  • the camera 515 is installed on the water drilling gun 513, and the camera 515 and the water drilling gun 513 are arranged in the same direction;
  • the camera 515 and the water drilling gun 513 are respectively electrically connected to the rescue terminal 6 .
  • a camera 515 is added to shoot the drilling scene, so that the remote control terminal can accurately adjust the drilling position.
  • a cooling device is also included, and the cooling device is used for cooling the accident ship 10 ;
  • the cooling device includes an onboard water pump, a compressed water tank, a water pipe 81 and a sprinkler head; the onboard water pump is communicated with the compressed water tank, and the compressed water tank is communicated with the sprinkler head through the water pipe 81;
  • the water pump is used to extract seawater for compression, and then spray cooling water mist to cool the accident ship 10;
  • the onboard water pump is electrically connected to the rescue terminal 6 .
  • a water mist cooling system is set on the water navigation robot 1, and the water mist is formed to cool the hull and the surrounding environment by compressing the seawater to the pipes and sprinklers fixed on the hull by using the onboard water pump.
  • a plurality of monitoring cameras 515 are also installed on the water navigation robot 1 , and the plurality of monitoring cameras 515 are respectively electrically connected to the rescue terminal 6 .
  • a real-time monitoring camera 515 is installed around the top of the cabin of the water navigation robot 1 to monitor the surrounding environment of the water navigation robot 1 .
  • the interior of the fixed sealing device 3 has a lighting system and a real-time image camera 515.
  • the monitoring camera 515 covers the entire operating space.
  • the cameras 515 are arranged on eight corners inside the box 31 of the fixed sealing device 3, and the monitoring camera 515 can rotate.
  • a special operation camera 515 is installed on the drilling equipment 51 and the electric welding equipment 52 .
  • the video image signal is transmitted to the remote control terminal of the rescue mother ship 20 through signal cable transmission and radio transmission.
  • the rescue equipment also includes a filling pipeline 55 and a transfer pipeline 54.
  • the filling pipeline 55 is divided into a liquid filling pipeline and an inflatable pipeline, which are used for adding water or filling inert gas into the cargo tank of the accident ship 10. They are all flexible special-purpose soft pipes. Pipe; the transfer pipeline 54 is used for the transfer of liquid cargo, and a flexible special hose is used. Extension pipes can be installed at each pipe port, and there are electronic control valves. As shown in FIG. 14 , the electronic control valve includes an electric motor 91 and a valve plate 92 . The electric motor 91 is connected to the valve plate 92 and controls the rotation of the valve plate 92 to realize the opening and closing of the valve.
  • the extension pipe and the filling pipe 55 and the transfer pipe 54 are all provided with an extension pipe interface 56 for connecting with each other.
  • one end of the extension pipe interface 56 is provided with a sealing ring 561
  • the other end of the extension pipe interface 56 is provided with a groove 562 matching the sealing ring 561
  • the extension pipe interface 56 at both ends is provided with a groove 562.
  • a transfer plan should be formulated according to the situation at the accident site.
  • the main purpose of the evaluation is to judge whether the transfer operation can be carried out on the premise of ensuring safety.
  • the assessment includes the damage of the ship, the environment of the sea area where the ship is located, and the situation of liquid dangerous chemicals.
  • rescue equipment such as the transfer pipeline 54 of suitable diameter should be selected according to the actual situation. It is also necessary to calculate the ship's stability and other ship data, and formulate a safe and effective transfer process and security plan. This system can be used to carry out the transfer rescue after the transfer process and security plan are formulated.
  • the rescue mother ship 20 itself is the barge 30
  • the rescue mother ship 20 is not the barge 30 .
  • the rescue mother ship 20 is located on the upwind side of the accident ship 10, and the barge 30 is located on the upwind side of the rescue mother ship 20.
  • the rescue mother ship 20 and the barge 30 maintain power during the rescue process to prevent the ships from colliding.
  • Perform functional tests on remotely operated equipment such as water navigation robot 1, fixed sealing device 3 and drilling equipment. After testing all equipment to work properly, place all equipment used on the accident vessel 10 on the water robot. Use a hoist to place all of the above gear on the water.
  • the transfer plan remotely control the water navigation robot 1 to approach the accident ship 10, and turn on the water mist cooling system of the water navigation robot 1, that is, the water pump pumps seawater, and uses the cooling water spray pipe to spray the seawater on the water navigation robot 1. achieve cooling effect.
  • the water navigation robot 1 is attached to the side of the accident ship 10 by means of electromagnets.
  • the personnel on the rescue mother ship 20 should send out all pipelines and lines in a safe and orderly manner.
  • a vacuum-type fixed sealing device 3 fixes the device in the drilled position.
  • the vacuum pump 32 is turned on, and the whole device is fixed in the punching position.
  • Fixing method First, air is introduced into the isolation layer of the fixed sealing device 3 to remove the internal water. The vacuum pump 32 is turned on, and the whole device is fixed in the punching position. After fixing, the water in the working space in the fixed sealing device 3 is drained using the drainage device.
  • the accident ship 10 may be a single-layer hull or a double-layer hull. During the drilling operation, the hull needs to be completely drilled.
  • the double-hull ship usually adopts water drilling.
  • the transfer pipeline 54 For liquid cargo that is insoluble in water and has a density greater than that of water, if the method of drilling on the water is used, the transfer pipeline 54 should be extended into the bottom of the cargo tank, and the filling pipe should just be inserted into the drill hole; if the underwater drilling method is used In this way, the transfer pipeline 54 just extends into the borehole. Before the transfer device is launched, the required extension pipes must be installed.
  • the method of drilling on water is generally adopted, and the transfer pipeline 54 is just extended into the hole.
  • the transfer pipe 54 For the transfer of liquid cargo soluble in water, if the method of drilling on water is adopted, the transfer pipe 54 needs to be extended into the bottom of the liquid cargo tank; if the method of underwater drilling is adopted, the transfer pipe 54 should just be inserted into the hole. anywhere.
  • the accident ship 10 is loaded with water or filled with inert gas, and the transfer of the liquid cargo starts, and the liquid cargo is transferred into the liquid cargo storage container 50 of the rescue mother ship 20 or the transfer ship 30 .
  • the inert gas is stored in the inert gas tank 40 of the rescue mother ship 20 .
  • the main safeguard measures include cooling, environmental protection, personnel protection, and emergency evacuation.
  • cooling is an indispensable part of the entire emergency rescue and transfer work.
  • the high temperature generated by the combustion may affect the work of the machine, so the surrounding environment is cooled to ensure that the machine can work normally.
  • the friction and cutting between the drilling device and the metal ship plate may generate a lot of heat, which needs to be cooled in time to avoid the burning of surrounding combustibles due to excessive temperature.
  • the primary task of ensuring the safety of personnel is to wear protective equipment in all work. All the work of the emergency rescue transfer is that the operator performs remote operation of the equipment on the rescue mother ship 20, which also effectively ensures the safety of the rescuers.
  • the first thing to do is to stop all transfer work and close all pipelines to prevent the accident on the accident ship 10 from affecting the rescue ship and rescue personnel. If the impact of the emergency is not great, the rescue equipment can be evacuated. All pipelines are withdrawn, the borehole is sealed, and all equipment is withdrawn from the water navigation robot 1 to the rescue mother ship 20. An emergency cut-off procedure is set on the rescue mother ship 20. When a serious accident that may affect the rescue mother ship 20 occurs, the emergency cut-off procedure is activated, and all external equipment of the rescue mother ship 20 including the water navigation robot 1, the drilling device, and the barge pipeline 54 are discarded. The safety of the rescue mother ship 20 is guaranteed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Manipulator (AREA)

Abstract

一种海上应急救援过驳系统包括水上航行机器人（1），水上航行机器人（1）的一侧安装有用于与事故船吸附固定的吸附装置（11），自动升降装置（2）安装于水上航行机器人（1）上，固定密封装置（3）安装于自动升降装置（2）上，固定密封装置（3）包括箱体（31）以及抽真空泵（32），箱体（31）内设置有空腔（311）；救援设备放置于固定密封装置（3）内，遥控抓手（4）安装于自动升降装置（2）上，并用于抓取救援设备进行过驳操作。该过驳系统能够对海上事故船进行紧急快速过驳。

Description

一种海上应急救援过驳系统 技术领域
本发明涉及海上船舶过驳控制技术领域，尤其涉及一种海上应急救援过驳系统。
背景技术
过驳，是指将货物从一艘船舶运输到另一艘船舶上。危化品船舶运输日益发展，但一旦发生事故，后果非常严重。危化品船舶事故应急救援工作受到行业内越来越多的关注。在海上，液态危化品船舶事故的救援面临较多困难。特别是当事故发生地离岸较远，发生火灾而无法控制的情况下，迫切需要采用有效的应急救援手段。
现阶段，液态危化品船舶应急救援过驳的相关研究相对较少，没有明确的装置及方法用于海上液态危化品船舶应急救援中。因此，设计一种液态危化品船舶海上应急救援过驳装置及方法，对于海上危化品船舶救援具有重要意义。
发明内容
有鉴于此，有必要提供一种海上应急救援过驳系统，用以解决液态危化品船舶救援缺乏有效的应急过驳装置的问题。
本发明提供一种海上应急救援过驳系统，包括水上航行机器人、自动升降装置、固定密封装置、遥控抓手、救援设备、救援终端以及遥控终端；
所述水上航行机器人的一侧安装有用于与事故船吸附固定的吸附装置，所述自动升降装置安装于所述水上航行机器人上，所述固定密封装置安装于所述自动升降装置上，所述固定密封装置包括箱体以及抽真空泵，所述箱体内设置 有空腔；所述抽真空泵的抽气端与所述空腔连通，所述抽真空泵的出气端与外部的通气管道连通，所述箱体的外壁上还开设有与所述空腔连通的吸附孔；所述抽真空泵用于抽取所述空腔内的空气或水，以便利用大气压或水压将所述箱体固定于事故船上；所述救援设备放置于所述固定密封装置内，所述遥控抓手安装于所述自动升降装置上，并用于抓取所述救援设备进行过驳操作；
所述水上航行机器人、吸附装置、自动升降装置、抽真空泵、遥控抓手以及救援设备分别与所述救援终端电连接，所述救援终端与所述遥控终端无线连接。
进一步的，所述吸附装置为电磁铁。
进一步的，所述自动升降装置包括平台、伸缩单元、旋转单元、升降单元、绞盘、吊索以及下降电机；
所述升降单元安装于所述水上航行机器人上，所述旋转单元安装于所述升降单元的升降端，所述伸缩单元安装于所述旋转单元的旋转端，所述平台安装于所述伸缩单元的伸缩端，所述固定密封装置安装于所述平台上；
所述绞盘安装于所述水上航行机器人上，所述平台还通过吊索与所述绞盘连接，所述绞盘与所述下降电机的输出轴传动连接；
所述伸缩单元、旋转单元、升降单元以及下降电机分别与所述救援终端电连接。
进一步的，所述水上航行机器人包括一U型端，所述绞盘安装于所述U型端内侧，所述平台设置于所述U型端内。
进一步的，所述水上航行机器人的U型端上安装有一圈U型滑轨，所述滑轨上安装有配重块，所述配重块与所述滑轨连接处安装有电控滑轮，所述配重块通过所述电控滑轮与所述滑轨滑动连接；
所述电控滑轮与所述救援终端电连接。
进一步的，所述固定密封装置还包括排水装置，所述排水装置包括排水泵、排水管道、抽水管道以及排水阀；
所述箱体上开设有排水孔，所述抽水管道位于所述箱体内并通过所述排水泵与所述排水孔连通，所述排水管道位于所述箱体外，并与所述排水孔连通，所述排水阀安装于所述排水管道和/或所述抽水管道上；
所述排水泵、所述排水阀分别与所述救援终端电连接。
进一步的，所述救援设备包括钻孔设备、电焊设备、密封钢板以及过驳管道；
所述遥控抓手用于抓取所述钻孔设备，所述钻孔设备用于在事故船上钻孔作为过驳孔；
所述遥控抓手用于抓取所述过驳管道，并将所述过驳管道伸入所述过驳孔内，以便连接事故船与救援母船；所述遥控抓手还用于在过驳完成后，将所述过驳管道收回；
所述遥控抓手用于抓取所述密封钢板，并将所述密封钢板塞入所述过驳孔内；
所述遥控抓手还用于抓取所述电焊设备，所述电焊设备用于将所述密封钢板焊接于所述过驳孔上，以便封堵所述过驳孔。
进一步的，所述钻孔设备为水切割钻孔机，所述水切割钻孔机包括高压水产生装置、抽水管、水钻孔枪、高压水管以及摄像头；
所述高压水产生装置的进水端与所述抽水管连通，所述高压水产生装置的出水端通过所述高压水管与所述水钻孔枪连通；所述摄像头安装于所述水钻孔枪上，且所述摄像头与所述水钻孔枪朝向同一方向设置；
所述摄像头以及所述水钻孔枪分别与所述救援终端电连接。
进一步的，还包括降温装置，所述降温装置用于对事故船进行降温；
所述降温装置包括船载水泵、压缩水箱、水管以及喷洒头；所述船载水泵与所述压缩水箱连通，所述压缩水箱通过所述水管与所述喷洒头连通；所述船载水泵用于抽取海水进行压缩，然后喷洒降温水雾对事故船进行降温；
所述船载水泵与所述救援终端电连接。
进一步的，所述水上航行机器人上还安装有多个监控摄像头，多个所述监控摄像头分别与所述救援终端电连接。
有益效果：本发明中水上航行机器人用于将救援设备运送到事故船附近指定位置。固定密封装置用于将自动升降装置上的工作平台固定在事故船侧，以便救援设备的救援操作。自动升降装置用于实现固定密封装置的升降控制，从而实现水上或水下的救援操作。遥控抓手用于抓取救援设备进行过驳操作，实现救援过驳。遥控终端通过无线网络发送遥控指令指挥各部分操作，救援终端接收遥控指令并控制各部分执行救援操作。本发明使用水上航行机器人和远程操纵技术进行过驳作业，不仅可以有效保护救援人员的人身安全，同时可以提高救援效率，减少了危险化学品船舶发生事故后的经济损失。
附图说明
图1为本发明提供的海上应急救援过驳系统第一实施例的系统架构俯视图；
图2为本发明提供的海上应急救援过驳系统第一实施例的系统架构侧视图；
图3为图1中固定密封装置一实施例的结构示意图；
图4为图1中自动升降装置一实施例的结构示意图；
图5为图3中自动升降装置的安装结构示意图；
图6为本发明提供的海上应急救援过驳系统第一实施例的滑轨以及配重块的连接关系示意图；
图7为本发明提供的海上应急救援过驳系统第一实施例的配重块的结构示意图；
图8为本发明提供的海上应急救援过驳系统第一实施例的排水装置的结构示意图；
图9为本发明提供的海上应急救援过驳系统第一实施例的固定密封装置内 救援设备的位置分布示意图；
图10为本发明提供的海上应急救援过驳系统第一实施例的电焊设备的结构示意图；
图11为本发明提供的海上应急救援过驳系统第一实施例的遥控抓手的安装结构示意图；
图12为本发明提供的海上应急救援过驳系统第一实施例的填充辅助装置安装结构示意图；
图13为本发明提供的海上应急救援过驳系统第一实施例的钻孔设备的结构示意图；
图14为本发明提供的海上应急救援过驳系统第一实施例的管道内的控制阀门的结构示意图；
图15a为本发明提供的海上应急救援过驳系统第一实施例的延伸管道接口一端的结构示意图；
图15b为本发明提供的海上应急救援过驳系统第一实施例的延伸管道接口另一端的结构示意图；
图16a为本发明提供的海上应急救援过驳系统第一实施例的第一种应用场景图；
图16b为本发明提供的海上应急救援过驳系统第一实施例的第二种应用场景图；
附图标记：
1、水上航行机器人；11、吸附装置；2、自动升降装置；21、平台；22、伸缩单元；23、旋转单元；24、升降单元；25、绞盘；26、吊索；3、固定密封装置；31、箱体；311、空腔；32、抽真空泵；321、通气管道；322、空气阀；33、排水泵；34、排水管道；35、抽水管道；4、遥控抓手；51、钻孔设备；511、高压水产生装置；512、抽水管；513、水钻孔枪；514、高压水管；515、摄像头；52、电焊设备；53、填充辅助装置；54、过驳管道；55、填充管道；56、延伸管接口；561、密封圈；562、凹槽；563、螺母孔；57、密封钢板；6、救援终端；71、滑轨；72、配重块；73、电控滑轮；81、水管；91、电动机；92、 阀板；10、事故船；20、救援母船；30、接驳船；40、惰性气体舱；50、液货储存容器。
具体实施方式
下面结合附图来具体描述本发明的优选实施例，其中，附图构成本申请一部分，并与本发明的实施例一起用于阐释本发明的原理，并非用于限定本发明的范围。
实施例1
如图1、图2、图3所示，本发明的实施例1提供了海上应急救援过驳系统，以下简称本系统，包括水上航行机器人1、自动升降装置2、固定密封装置3、遥控抓手4、救援设备、救援终端6以及遥控终端；
所述水上航行机器人1的一侧安装有用于与事故船10吸附固定的吸附装置11，所述自动升降装置2安装于所述水上航行机器人1上，所述固定密封装置3安装于所述自动升降装置2上，所述固定密封装置3包括箱体31以及抽真空泵32，所述箱体31内设置有空腔311；所述抽真空泵32的抽气端与所述空腔311连通，所述抽真空泵32的出气端与外部的通气管道321连通，所述箱体31的外壁上还开设有与所述空腔311连通的吸附孔；所述抽真空泵32用于抽取所述空腔311内的空气或水，以便利用大气压或水压将所述箱体31固定于事故船10上；所述救援设备放置于所述固定密封装置3内，所述遥控抓手4安装于所述自动升降装置2上，并用于抓取所述救援设备进行过驳操作；
所述水上航行机器人1、吸附装置11、自动升降装置2、抽真空泵32、遥控抓手4以及救援设备分别与所述救援终端6电连接，所述救援终端6与所述遥控终端无线连接。
本系统中水上航行机器人1用于将固定密封装置3、救援设备(例如水上钻孔设备51、过驳管道54等)运送到事故船10附近指定位置。固定密封装置3为真空式固定密封装置3，用于将自动升降装置2上的工作平台21固定在事 故船10侧。自动升降装置2用于实现固定密封装置3的升降控制，从而实现水上或水下的救援操作，遥控抓手4用于抓取救援设备进行过驳操作，例如抓取钻孔设备51钻孔、通入过驳管道54等将液舱内的液态危险化学品过驳至接驳船30等，实现救援过驳。遥控终端通过无线网络发送遥控指令指挥各部分操作，救援终端6接收遥控指令并控制各部分执行救援操作。遥控终端和救援终端6均可采用工控机、电脑等实现。
具体的，如图3所示，抽真空泵32一头连接箱体31的隔层，另一头连接外部通气管道321，且两头均有空气阀322。抽真空泵32和孔道安装的通气管为软管，可弯曲，口径为4英寸(约101.6mm).通气管顶端有浮圈，可使通气口处于水面上。通气管顶端有阻水阀，避免海水倒灌至管道内。抽真空泵32的橡胶密封圈的材质可以是硅橡胶和丁晴橡胶或者其它耐高温，可用于密封的软性材料。抽真空泵32的主要作用是，将箱体31隔层中的空气抽出，利用大气压或水压将固定密封装置3固定在事故船10上。
本发明基于机器人和远程操控的应用，提出了一种新的液态危化品船舶海上应急救援过驳系统。使用机器人和远程操纵技术进行过驳作业，不仅可以有效保护救援人员的人身安全，同时可以提高救援效率，减少了危险化学品船舶发生事故后的经济损失。
优选的，所述吸附装置11为电磁铁。
通过电磁铁将水上航行机器人1吸附在事故船10上，通过救援终端6控制电磁铁的通断电，即可控制水上航行机器人1与事故船10的吸附与断开。
优选的，如图4、图5所示，所述自动升降装置2包括平台21、伸缩单元22、旋转单元23、升降单元24、绞盘25、吊索26以及下降电机；
所述升降单元24安装于所述水上航行机器人1上，所述旋转单元23安装于所述升降单元24的升降端，所述伸缩单元22安装于所述旋转单元23的旋转端，所述平台21安装于所述伸缩单元22的伸缩端，所述固定密封装置3安装于所述平台21上；
所述绞盘25安装于所述水上航行机器人1上，所述平台21还通过吊索26与所述绞盘25连接，所述绞盘25与所述下降电机的输出轴传动连接；
所述伸缩单元22、旋转单元23、升降单元24以及下降电机分别与所述救援终端6电连接。
自动升降装置2的作用在于需要进行水上钻孔等救援操作时，将工作平台21抬升至钻孔位置。伸缩单元22、旋转单元23、升降单元24均可采用现有技术实现，例如伸缩单元22可以采用电动推杆实现，旋转单元23可以采用旋转电机实现，升降单元24可以采用气缸实现等。下降电机则是实现工作平台21的下降，在需要进行水下钻孔时，将工作平台21下降至钻孔位置，下降电机转动带动绞盘25旋转，绞盘25的旋转实现吊索26的收放，从而实现工作平台21的下降控制。
优选的，如图1所示，所述水上航行机器人1包括一U型端，所述绞盘25安装于所述U型端内侧，所述平台21设置于所述U型端内。
U型端的设置方便升降平台21的安装和升降控制。
优选的，如图6、图7所示，所述水上航行机器人1的U型端上安装有一圈U型滑轨71，所述滑轨71上安装有配重块72，所述配重块72与所述滑轨71连接处安装有电控滑轮73，所述配重块72通过所述电控滑轮73与所述滑轨71滑动连接；
所述电控滑轮73与所述救援终端6电连接。
配重块72的下侧有电控滑轮73，可在滑轨71中移动，通过控制配重块72的滑动调整船舶的重心和稳定性。
优选的，如图8所示，所述固定密封装置3还包括排水装置，所述排水装置包括排水泵33、排水管道34、抽水管512道35以及排水阀；
所述箱体31上开设有排水孔，所述抽水管512道35位于所述箱体31内并通过所述排水泵33与所述排水孔连通，所述排水管道34位于所述箱体31外，并与所述排水孔连通，所述排水阀安装于所述排水管道34和/或所述抽水管512 道35上；
所述排水泵33、所述排水阀分别与所述救援终端6电连接。
固定密封装置3固定在事故船10侧面后，通过排水装置抽水管512抽取救援设备操作空间中的水。通过排水管道34和排水孔将水排出，便于救援设备的使用和遥控抓手4的抓取。
优选的，如图9、图10、图11所示，所述救援设备包括钻孔设备51、电焊设备52、密封钢板57以及过驳管道54；
所述遥控抓手4用于抓取所述钻孔设备51，所述钻孔设备51用于在事故船10上钻孔作为过驳孔；
所述遥控抓手4用于抓取所述过驳管道54，并将所述过驳管道54伸入所述过驳孔内，以便连接事故船10与救援母船20；所述遥控抓手4还用于在过驳完成后，将所述过驳管道54收回；
所述遥控抓手4用于抓取所述密封钢板57，并将所述密封钢板57塞入所述过驳孔内；
所述遥控抓手4还用于抓取所述电焊设备52，所述电焊设备52用于将所述密封钢板57焊接于所述过驳孔上，以便封堵所述过驳孔。
钻孔设备51使用超高压水切割钻孔机对事故船10侧舱壁进行钻孔操作。遥控抓手4用于抓住延伸管，将其塞入钻孔内，使得事故船10液舱内的液态危险化学品过驳至接驳船30。电焊设备52在过驳完成后，采用将密封板电焊的方式将钻孔密封。
如图8、图12所示，救援设备还包括填充辅助设备53，其用于辅助安装钻孔设备51和各管道，各管道和管道填充装置组合为一个整体，填充辅助设备53安装在固定密封装置3内顶壁上。
优选的，如图13所示，所述钻孔设备51为水切割钻孔机，所述水切割钻孔机包括高压水产生装置52、抽水管512、水钻孔枪513、高压水管514以及摄像头515；
所述高压水产生装置52的进水端与所述抽水管512连通，所述高压水产生装置52的出水端通过所述高压水管514与所述水钻孔枪513连通；所述摄像头515安装于所述水钻孔枪513上，且所述摄像头515与所述水钻孔枪513朝向同一方向设置；
所述摄像头515以及所述水钻孔枪513分别与所述救援终端6电连接。
增加摄像头515对钻孔场景进行拍摄，便于遥控终端对钻孔位置进行准确调整。
优选的，如图1、图2所示，还包括降温装置，所述降温装置用于对事故船10进行降温；
所述降温装置包括船载水泵、压缩水箱、水管81以及喷洒头；所述船载水泵与所述压缩水箱连通，所述压缩水箱通过所述水管81与所述喷洒头连通；所述船载水泵用于抽取海水进行压缩，然后喷洒降温水雾对事故船10进行降温；
所述船载水泵与所述救援终端6电连接。
本系统中，水上航行机器人1上设置有水雾降温系统，使用船载水泵将海水压缩到固定在船身的管道和喷洒头，形成对船体及周围环境降温的水雾。
优选的，所述水上航行机器人1上还安装有多个监控摄像头515，多个所述监控摄像头515分别与所述救援终端6电连接。
水上航行机器人1机舱顶部四周安装实时监控摄像头515，监控水上航行机器人1周边环境。固定密封装置3内部有照明系统和实时影像摄像头515，监控摄像头515覆盖整个操作空间，摄像头515布置在固定密封装置3箱体31内部的八个角上，监控摄像头515可以旋转。除此，在钻孔设备51、电焊设备52上安装有专门的操作摄像头515。视频影像信号通过信号电缆传输以及无线电传输至救援母船20的遥控终端。
救援设备还包括填充管道55和过驳管道54，填充管道55分为充液管道和充气管道，用于对事故船10液货舱内加水或者充入惰性气体的管道，均为可弯曲的专用软管；过驳管道54用于液货的过驳，使用可弯曲的专用软管。各管道 口均可安装延伸管，且均有电子控制阀。如图14所示，电子控制阀包括电动机91和阀板92，电动机91与阀板92连接，并控制阀板92的转动，从而实现阀门的开关。延伸管和填充管道55以及过驳管道54上均安装有延伸管接口56，用于相互连接。如图15a和图15b所示，延伸管接口56的一端设置有密封圈561，延伸管接口56的另一端设置有与密封圈561相匹配的凹槽562，两端的延伸管接口56上均开设有螺母孔563，两端的延伸管接口56通过螺母孔563、螺栓以及螺母螺纹连接，实现管道延伸时的连接。
液态危化品船舶海上事故发生之后，要根据事故现场的情况来制定过驳方案。首先，要对事故现场进行风险评估。评估的主要目的是判断是否可以在保障安全的前提下进行过驳作业。评估内容包括了船舶的受损情况、船舶所处海域环境情况和液态危化品情况等。在确定可以进行过驳作业之后，要计算过驳量，根据实际情况选择合适口径的过驳管道54等救援装备。还得计算船舶的稳性等船舶数据，制定安全有效的过驳流程和保障方案。制定完过驳流程和保障方案后即可采用本系统进行过驳救援。
如图16a和图16b所示，应急过驳中，有两种海上应急救援过驳装备布置情况：救援母船20本身为接驳船30，救援母船20不为接驳船30。制定好过驳计划，将所有需求的装备运送到事故现场后，开始进行过驳操作。具体步骤如下：
S1、救援母船20位于事故船10的上风舷，接驳船30位于救援母船20的上风舷，救援母船20与接驳船30在救援过程中保持动力，防止船舶相撞。将填充管道55、过驳管道54和所有的电路与救援母船20连接。对水上航行机器人1、固定密封装置3和钻孔装备等远程操作的装备进行功能测试。测试所有设备可正常工作后，将所有在事故船10上使用的装备放置在水上机器人上。使用起吊机将上述所有装备放置在水面上。
S2、按照过驳方案，远程操纵水上航行机器人1靠近事故船10，并打开水上航行机器人1的水雾降温系统，即水泵抽海水，利用降温水喷洒管将海水喷 洒在水上航行机器人1上，达到降温的效果。靠近船体之后，利用电磁铁将水上航行机器人1附在事故船10船侧。在水上航行机器人1航行至事故船10的同时，救援母船20上的人员要将所有管路、线路安全有序的送出。
S3、采取水面以上钻孔，用水上航行机器人1的升降装置，将固定密封装置3及其内部的钻孔装置和过驳管道54等救援设备送至事故船10的液舱上半部，使用真空式的固定密封装置3将设备固定在钻孔的位置。打开抽真空泵32，整个装置固定在打孔位置。
如果是采用水面以下钻孔的方式，则需要利用下降吊索26装置将固定密封装置3、钻孔装置和过驳管道54等设备下降到面以下事故船10的液货舱侧面接近底部的位置。使用真空式的固定密封装置3，将设备固定在指定位置。固定方法：先向固定密封装置3隔离层中通入空气，将内部的水排除。打开抽真空泵32，整个装置固定在打孔位置。固定之后，使用排水装置将固定密封装置3内工作空间的水排出。
S4、根据固定密封装置3内部的摄像头515传回到救援母船20的实时视频影像，远程操纵钻孔设备51进行钻孔作业，钻孔大小要小于钻孔密封装置且大小足够将所有管道伸入。事故船10可能为单层船壳或双层船壳，进行钻孔作业时，需将船壳完全钻通，双层船壳船通常采用水上钻孔。
S5、安装钻孔密封装置和各管道。
观看固定密封装置3内的实时视频，操纵遥控抓手4，将过驳管道54延伸管伸入钻孔内。操纵填充辅助设备53，将钻孔密封装置完全覆盖钻孔并紧贴船侧，打开抽真空泵32。
过驳不溶于水且密度大于水的液货，如果采用水上钻孔的方式，要将过驳管道54伸入液货舱底部，充液管道刚好伸入钻孔即可；如果采用水下钻孔的方式，过驳管道54刚好伸入钻孔处即可。此过驳装置下水前，要将需要的延伸管安装好
过驳不溶于水且密度小于水的液货，一般采用水上钻孔方式，将过驳管道 54刚好伸入钻孔处。
过驳溶于水的液货，如果采用水上钻孔的方式，需要将过驳管道54伸入液货舱底部；如果采用水下钻孔的方式，则只要将过驳管道54刚好伸入钻孔处即可。
S6、打开救援母船20与事故船10、救援母船20与接驳船30之间管道的阀门。向事故船10加载水或者充入惰性气体，开始过驳液货，将液货过驳至救援母船20或接驳船30的液货存储容器50内。惰性气体存储于救援母船20的惰性气体舱40内。
S7、过驳管道54与救援母船20液货舱连接处有液体成分监测装置，实时监测过驳的液体成分以及流量等数据。
使用加水实现过驳时，如果发现过驳来的不再是液货，而是水，则停止加水，关闭管道的过驳阀门，打开止回阀。
利用惰性气体来过驳时，如果发现不再有液货流出，则停止惰性气体的充入，关闭管道的过驳阀门，打开止回阀。
S8、等完成本舱室的过驳后，将所有的管道抽出，使用钢板将钻孔处密封。接着使用水上航行机器人1的升降装置将固定、密封装置、钻孔装置和管道等装备回收到水上航行机器人1上。再操纵水上航行机器人1前往下一个液货舱的位置，按照上述步骤重复操作。直至过驳完成所有舱室。
在整个应急过驳作业的实施过程中，需要实施一些保障措施，保障整个工作的顺利进行。主要的保障措施包括了降温、环境保护、人员防护、应急撤离。
对于海上危化品船舶发生火灾事故，降温是整个应急救援过驳工作中不可或缺的一部分。水上航行机器人1靠近火灾船舶之后，燃烧产生的高温可能会对机器的工作产生影响，所以对周边的环境进行降温，保证机器可以正常的工作。在进行钻孔工作时，钻孔装置与金属船板之间相互摩擦切割可能会产生大量的热，这就需要及时降温，避免温度过高造成周围可燃物燃烧。
在过驳中，可能会有液态危化品泄漏的情况发生，这就需要做好环境保护 的措施方案。如果过驳过程中发生泄漏的情况，要迅速停止液态货物的过驳，将所有的管路关闭。检查泄漏的地方，进行堵漏工作。对于已经泄漏出来的液态危化品，如果是漂浮于海面的，可以使用围油栏这类设备将液货控制在一定的范围内，然后使用回收设备将泄漏的危化品回收储存；如果是液货密度比海水密度大，如果泄漏的液货量较大，则需要专业的泄漏打捞工作；如果是液货溶于水，则需要使用合适的中和剂将泄漏的液货中和。除了做好泄漏后的处理方案，还得做好防护措施。所有的装置设备都要定期检查，保证能够正常使用；所有的管路都是需要进行防泄漏处理；所有的装置设备不会对环境造成损害。
保证人员的生命安全时首要任务，在进行所有的工作中，都需要穿戴好防护装备。应急救援过驳的所有工作都是操作人员在救援母船20上对装置设备进行远程操作，这也有效的保证了救援人员的安全。
当发生突发事故的时候，首先要做的就是停止一切过驳工作，关闭所有管路，防止事故船10上发生的事故波及救援船和救援人员。如果突发事件的影响不是很大，可以对救援设备进行撤离。将所有的管路撤出，对钻孔处进行密封，将所有设备用水上航行机器人1撤回救援母船20。在救援母船20上设置应急切断程序，当发生可能波及救援母船20的严重事故时，启动应急切断程序，舍弃包括水上航行机器人1、钻孔装置、过驳管道54等一切救援母船20外部设备，保障救援母船20的安全。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。

Claims (10)

  1. 一种海上应急救援过驳系统，其特征在于，包括水上航行机器人、自动升降装置、固定密封装置、遥控抓手、救援设备、救援终端以及遥控终端；
    所述水上航行机器人的一侧安装有用于与事故船吸附固定的吸附装置，所述自动升降装置安装于所述水上航行机器人上，所述固定密封装置安装于所述自动升降装置上，所述固定密封装置包括箱体以及抽真空泵，所述箱体内设置有空腔；所述抽真空泵的抽气端与所述空腔连通，所述抽真空泵的出气端与外部的通气管道连通，所述箱体的外壁上还开设有与所述空腔连通的吸附孔；所述抽真空泵用于抽取所述空腔内的空气或水，以便利用大气压或水压将所述箱体固定于事故船上；所述救援设备放置于所述固定密封装置内，所述遥控抓手安装于所述自动升降装置上，并用于抓取所述救援设备进行过驳操作；
    所述水上航行机器人、吸附装置、自动升降装置、抽真空泵、遥控抓手以及救援设备分别与所述救援终端电连接，所述救援终端与所述遥控终端无线连接。
  2. 根据权利要求1所述的海上应急救援过驳系统，其特征在于，所述吸附装置为电磁铁。
  3. 根据权利要求1所述的海上应急救援过驳系统，其特征在于，所述自动升降装置包括平台、伸缩单元、旋转单元、升降单元、绞盘、吊索以及下降电机；
    所述升降单元安装于所述水上航行机器人上，所述旋转单元安装于所述升降单元的升降端，所述伸缩单元安装于所述旋转单元的旋转端，所述平台安装于所述伸缩单元的伸缩端，所述固定密封装置安装于所述平台上；
    所述绞盘安装于所述水上航行机器人上，所述平台还通过吊索与所述绞盘连接，所述绞盘与所述下降电机的输出轴传动连接；
    所述伸缩单元、旋转单元、升降单元以及下降电机分别与所述救援终端电 连接。
  4. 根据权利要求3所述的海上应急救援过驳系统，其特征在于，所述水上航行机器人包括一U型端，所述绞盘安装于所述U型端内侧，所述平台设置于所述U型端内。
  5. 根据权利要求4所述的海上应急救援过驳系统，其特征在于，所述水上航行机器人的U型端上安装有一圈U型滑轨，所述滑轨上安装有配重块，所述配重块与所述滑轨连接处安装有电控滑轮，所述配重块通过所述电控滑轮与所述滑轨滑动连接；
    所述电控滑轮与所述救援终端电连接。
  6. 根据权利要求1所述的海上应急救援过驳系统，其特征在于，所述固定密封装置还包括排水装置，所述排水装置包括排水泵、排水管道、抽水管道以及排水阀；
    所述箱体上开设有排水孔，所述抽水管道位于所述箱体内并通过所述排水泵与所述排水孔连通，所述排水管道位于所述箱体外，并与所述排水孔连通，所述排水阀安装于所述排水管道和/或所述抽水管道上；
    所述排水泵、所述排水阀分别与所述救援终端电连接。
  7. 根据权利要求1所述的海上应急救援过驳系统，其特征在于，所述救援设备包括钻孔设备、电焊设备、密封钢板以及过驳管道；
    所述遥控抓手用于抓取所述钻孔设备，所述钻孔设备用于在事故船上钻孔作为过驳孔；
    所述遥控抓手用于抓取所述过驳管道，并将所述过驳管道伸入所述过驳孔内，以便连接事故船与救援母船；所述遥控抓手还用于在过驳完成后，将所述过驳管道收回；
    所述遥控抓手用于抓取所述密封钢板，并将所述密封钢板塞入所述过驳孔内；
    所述遥控抓手还用于抓取所述电焊设备，所述电焊设备用于将所述密封钢 板焊接于所述过驳孔上，以便封堵所述过驳孔。
  8. 根据权利要求7所述的海上应急救援过驳系统，其特征在于，所述钻孔设备为水切割钻孔机，所述水切割钻孔机包括高压水产生装置、抽水管、水钻孔枪、高压水管以及摄像头；
    所述高压水产生装置的进水端与所述抽水管连通，所述高压水产生装置的出水端通过所述高压水管与所述水钻孔枪连通；所述摄像头安装于所述水钻孔枪上，且所述摄像头与所述水钻孔枪朝向同一方向设置；
    所述摄像头以及所述水钻孔枪分别与所述救援终端电连接。
  9. 根据权利要求1所述的海上应急救援过驳系统，其特征在于，还包括降温装置，所述降温装置用于对事故船进行降温；
    所述降温装置包括船载水泵、压缩水箱、水管以及喷洒头；所述船载水泵与所述压缩水箱连通，所述压缩水箱通过所述水管与所述喷洒头连通；所述船载水泵用于抽取海水进行压缩，然后喷洒降温水雾对事故船进行降温；
    所述船载水泵与所述救援终端电连接。
  10. 根据权利要求1所述的海上应急救援过驳系统，其特征在于，所述水上航行机器人上还安装有多个监控摄像头，多个所述监控摄像头分别与所述救援终端电连接。
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