Butt-joint system and method for bow blowing floating pipes of trailing suction dredger adopting small unmanned surface boat

Abstract

The invention discloses a docking system and method for a bow blowing floating pipe of a trailing suction dredger adopting an unmanned surface boat. The floating pipe docking system comprises an unmanned ship (3), a floating body (4) and a connecting rope (6), the floating body is connected with the floating pipe (2) through a connecting rope; the unmanned ship is used for driving the floating body to move back and forth between the water surface and the bow blowing connecting pipe operation area; the floating body is provided with a magnetic suction plate (44), the unmanned ship is provided with an electromagnetic suction cup (34), and the electromagnetic suction cup of the unmanned ship and the magnetic suction plate of the floating body are attracted together, so that the unmanned ship and the floating body are connected together; the prow of the unmanned ship is arranged to be of a front fork structure, and the prow of the front fork structure of the unmanned ship can clamp the floating body to move. When the docking system and method for the bow blowing floating pipe of the trailing suction dredger are used for implementing bow blowing pipe connecting operation, unmanned operation is achieved in the operation process, the operation efficiency is effectively improved, and the labor cost and the time cost are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to a ship dredging engineering technology, and in particular to a system and method for connecting a floating pipe to a bow of a trailing suction hopper dredger using a water surface unmanned boat. BACKGROUND

[0002] A trailing suction hopper dredger is a self-propelled dredger with a hopper and a suction device. During operation, the dredger is towed by a trailing head, and the seabed sediment and water are sucked into the hopper. After being fully loaded, the dredger sails to a dumping area or a reclamation area, and the sediment is discharged through the bow or the bottom.

[0003] During construction, a core device called a floating pipe is required. The floating pipe is a floating pipeline, and a float is arranged outside the pipeline to suspend the entire pipeline on the water surface. One end of the floating pipe is connected to the discharge port (bow or side) of the trailing suction hopper dredger, and the other end extends to the reclamation area or the shore side, for continuously transporting the sediment in the hopper to the designated location. The operation process of connecting the floating pipe to the discharge port of the trailing suction hopper dredger is referred to as "bow connection".

[0004] The traditional bow connection is usually achieved manually, and the specific process is as follows:

[0005] 1) Floating pipe prepositioning: a section of the floating pipe is pre-laid on the sea surface, and the end is connected to a floating ball through a large steel wire, a small steel wire, and a fiber rope. The floating ball floats and waits for connection.

[0006] 2) Traffic boat searching: the traffic boat searches for the floating ball on the sea surface by naked eye, which is affected by wind and waves and visibility, and takes a long time.

[0007] 3) Manual salvage: the crew hooks the floating ball to the traffic boat with a long rod, and then retracts the fiber rope, small steel wire, and large steel wire in sequence until the unloading buckle connected to the floating pipe is found.

[0008] 4) Transmission between ships: the trailing suction dredger lowers the winch steel wire rope and the unloading buckle; the traffic boat crew hooks the unloading buckle on the ship with a long rod, and manually connects the unloading buckle on the ship with the winch unloading buckle. The floating ball and the fiber rope remain on the traffic boat.

[0009] 5) Tight connection: the trailing suction dredger winch retracts the rope, pulls the floating pipe to the bow, connects the male and female heads, and starts the bow construction.

[0010] 6) Construction completion and restoration: after the operation is completed, the trailing suction dredger crew throws the unloading buckle, and the traffic boat crew re-tying the fiber rope and the floating ball; the ship side recovers the floating ball and connects the small steel wire, and releases the floating pipe back into the sea, waiting for the next connection.

[0011] In summary, the current problems are:

[0012] The current bow blowing connecting pipe relies on manual operation of a traffic ship, and searching for a floating ball under a storm is difficult, docking is slow, the cost is high, and there is a risk of collision between the traffic ship and the large ship and personnel falling into the sea, so a safer, more precise and efficient, and low-cost alternative is urgently needed. SUMMARY

[0013] The purpose of the present application is to provide a trailing suction dredger bow blowing floating pipe docking system and method using a water surface unmanned dinghy, and to implement bow blowing pipe connection operations using the trailing suction dredger bow blowing floating pipe docking system and method, which realizes unmanned operation during the operation process, effectively improves the operation efficiency, and reduces the labor cost and time cost.

[0014] In order to achieve the above technical purpose, the present application adopts the following technical scheme:

[0015] A trailing suction dredger bow blowing floating pipe docking system using a water surface unmanned dinghy, the floating pipe docking system comprising an unmanned ship, a floating body and a contact rope; the floating body is connected with the floating pipe through the contact rope; the unmanned ship is used to drive the floating body to and from between the water surface and the bow blowing pipe operation area.

[0016] A trailing suction dredger bow blowing floating pipe docking system using a water surface unmanned dinghy, the floating pipe docking system comprising an unmanned ship, a floating body and a contact rope; the floating body is connected with the floating pipe through the contact rope; the floating body is provided with a magnetic suction plate, and the unmanned ship is provided with an electromagnetic suction disc, the electromagnetic suction disc of the unmanned ship and the magnetic suction plate of the floating body are adsorbed together, so that the unmanned ship and the floating body are connected together.

[0017] Further, the electromagnetic suction disc is assembled at the bow of the unmanned ship through a front stretching arm support, the orientation of the magnetic suction surface of the electromagnetic suction disc is consistent with the orientation of the bow; the floating body is provided with a plurality of magnetic suction plates, all of which are oriented outward.

[0018] Further, the front stretching arm support is a telescopic structure, the front stretching arm support is stretched out, so that the electromagnetic suction disc protrudes forward, the front stretching arm support is retracted, so that the electromagnetic suction disc is retracted into the main cabin body, and the bow of the unmanned ship is a front fork structure; or the front stretching arm support is an upward turning structure, the front stretching arm support is turned downward, so that the electromagnetic suction disc protrudes forward, the front stretching arm support is turned upward, and the bow of the unmanned ship is a front fork structure.

[0019] Further, the floating body comprises at least three floating balls, the floating balls are connected in a connected-in-closed configuration through connecting rods, and each connecting rod is provided with a magnetic suction plate, and the magnetic suction plates are oriented outward.

[0020] The present application relates to a floating pipe docking system for a trailing suction dredger bow, which comprises an unmanned boat, a floating body and a connecting rope, wherein the floating body is connected to the floating pipe by the connecting rope, the bow of the unmanned boat is provided in a forked configuration, and the bow of the unmanned boat in the forked configuration can hold the floating body to move position.

[0021] Further, the floating body is composed of a single floating ball, a frame is arranged on the upper part of the floating ball body, an iron plate is arranged on the top of the frame, a hooking net is arranged on the frame, and a counterweight is arranged on the lower part of the floating ball body.

[0022] The present application relates to a floating pipe docking system for a trailing suction dredger bow, which comprises an unmanned boat, a floating body and a connecting rope, wherein the floating body is connected to the floating pipe by the connecting rope, the bow of the unmanned boat is provided in a forked configuration, and the bow of the unmanned boat in the forked configuration can hold the floating body to move position.

[0023] The present application relates to a floating pipe docking system for a trailing suction dredger bow, which comprises an unmanned boat, a floating body and a connecting rope, wherein the floating body is connected to the floating pipe by the connecting rope, the bow of the unmanned boat is provided in a forked configuration, and the bow of the unmanned boat in the forked configuration can hold the floating body to move position.

[0024] The present application relates to a floating pipe docking system for a trailing suction dredger bow, which comprises an unmanned boat, a floating body and a connecting rope, wherein the floating body is connected to the floating pipe by the connecting rope, the bow of the unmanned boat is provided in a forked configuration, and the bow of the unmanned boat in the forked configuration can hold the floating body to move position.

[0025] The present application relates to a floating pipe docking system for a trailing suction dredger bow, which comprises an unmanned boat, a floating body and a connecting rope, wherein the floating body is connected to the floating pipe by the connecting rope, the bow of the unmanned boat is provided in a forked configuration, and the bow of the unmanned boat in the forked configuration can hold the floating body to move position.

[0026] The present application relates to a floating pipe docking system for a trailing suction dredger bow, which comprises an unmanned boat, a floating body and a connecting rope, wherein the floating body is connected to the floating pipe by the connecting rope, the bow of the unmanned boat is provided in a forked configuration, and the bow of the unmanned boat in the forked configuration can hold the floating body to move position. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 FIG. 1 is a schematic view of a floating pipe docking system for a trailing suction dredger bow based on embodiment 1 of the present application;

[0028] Figure 2 FIG. 2 is a schematic view of an unmanned boat connecting a floating body in embodiment 1;

[0029] Figure 3 FIG. 3 is a schematic view of a sling and a hooking hook used in embodiment 1;

[0030] Figure 4Fig. 1 is a schematic view of a floating body used in the floating pipe docking system based on the embodiment 1 of the present application;

[0031] Figure 5 Fig. 2 is a schematic view of the floating body held by the unmanned ship in the embodiment 1 of the present application;

[0032] Figure 6 Fig. 3 is a schematic view of the unmanned ship and the floating body combined in the floating pipe docking system based on the embodiment 2 of the present application;

[0033] Figure 7 Fig. 4 is a schematic view of the floating pipe docking system of the embodiment 2 using the unmanned ship to hold the floating body;

[0034] Figure 8 Fig. 5 is a schematic view of the unmanned ship used in the floating pipe docking system based on the embodiment 3 of the present application, in which the main cabin body of the unmanned ship is omitted. DETAILED DESCRIPTION

[0035] The specific embodiments of the present application are further described as follows:

[0036] Embodiment 1

[0037] The embodiment 1 provides a floating pipe docking system of a trailing suction ship using the unmanned surface vehicle.

[0038] Referring to Figure 1 , the floating pipe docking system of the embodiment 1 mainly comprises an unmanned ship 3, a floating body 4 and a contact rope 6.

[0039] One end of the contact rope 6 is connected with the pipe mouth end of the floating pipe 2, and the other end of the contact rope 6 is assembled with the floating body 4, so that the floating body 4 is connected with the pipe mouth end of the floating pipe 2 through the contact rope 6.

[0040] In the embodiment 1, the contact rope 6 is composed of three sections of ropes connected in sequence, which are a large steel wire rope 61, a small steel wire rope 62 and a fiber rope 63, and the three sections of ropes are connected through the steel wire rope shackles. The large steel wire rope 61 is connected with the pipe mouth end of the floating pipe 2 through the shackles, and the fiber rope 63 is assembled with the floating body 4 through the shackles.

[0041] Referring to Figure 2 , the floating body 4 is in a triangular configuration as a whole, which mainly comprises three floating balls 41.

[0042] The three floating balls 41 are arranged in a triangular array, that is, the three floating balls 41 are not in a straight line, and the triangular array is an equilateral triangle, that is, the distance between any two of the three floating balls 41 is equal. A connecting rod 42 is arranged between each adjacent two floating balls 41, and the two ends of the connecting rod 42 are respectively connected with the two floating balls 41, thereby forming the main structure of the floating body 4.

[0043] It should be noted that in other embodiments, the configuration of the floating body 4 is not necessarily triangular (that is, the number of floating balls 41 can be greater than three), but can also be polygonal, circular, or other forms of "enclosed configuration with the edges being spaced and connected by floating balls 41 and connecting rods 42". For the convenience of description, such a "configuration with three or more floating balls 41 connected and enclosed by connecting rods 42" is defined as a "connected and enclosed configuration", and the configuration with three floating balls 41 connected and enclosed by connecting rods 42 can be referred to as a "triangular connected and enclosed configuration".

[0044] That is, in the present embodiment 1, the three floating balls 41 are connected and formed in a triangular connected and enclosed configuration by connecting rods 42.

[0045] The floating body 4 is also provided with a hooking net 43, which is arranged within the enclosed range of the triangular connected and enclosed configuration, that is, within the range enclosed by the floating balls 41 and the connecting rods 42. The edges of the hooking net 43 are bound together with the connecting rods 42, so as to assemble the hooking net 43 on the floating body 4.

[0046] For the floating ball 41, a positioning function module and a communication function module are arranged on the floating ball 41, so as to realize "self-positioning" and "external data communication".

[0047] The positioning function module is a Beidou positioning module, and the signal end thereof is arranged on the surface of the floating ball 41.

[0048] Specifically, the positioning function module is a three-source positioning system composed of real-time kinematic positioning (Rtk), Beidou satellite and Bluetooth. When positioning is performed by using the three-source positioning system, communication is performed by using the Beidou satellite or an ad hoc network. The three-source positioning system realizes centimeter-level accuracy (real-time kinematic positioning (Rtk)), global coverage (Beidou satellite) and near-distance calibration (Bluetooth) by using a data fusion algorithm, thereby ensuring real-time pose tracking of the floating ball 41 in complex sea conditions.

[0049] The communication function module adopts Beidou short message and Mesh ad hoc network dual-redundancy link to ensure reliable transmission of instructions and data in harsh environments.

[0050] The specific size of the floating ball 41 can be determined according to actual needs.

[0051] It should be noted that the floating ball 41 is provided with a buckle assembly ring for assembly connection with the fiber rope 63 in the contact rope 6 through a buckle.

[0052] It should be noted that the floating body 4 is also provided with three magnetic plates 44, which are respectively arranged on the three connecting rods 42 and face outward. The three magnetic plates 44 are used in cooperation with the electromagnetic suction plate 34 arranged on the unmanned ship 3 to realize the function of magnetic adsorption connection (see the following description).

[0053] In addition, it should be noted that the three floating balls 41 are stable in a triangular form, but other forms such as a circular frame or an elliptical frame are not excluded. The specific form is determined according to the price, buoyancy, material, and reliability of the floating ball itself and the metal frame.

[0054] Referring to Figure 2 , the unmanned ship 3 is mainly composed of a main cabin body 31 and two side floating cabin bodies 32.

[0055] The side floating cabin body 32 has a cylindrical configuration, and the two side floating cabin bodies 32 are respectively arranged on the two sides of the main cabin body 31. A propeller propeller is arranged at the stern of the unmanned ship 3.

[0056] Especially important is that the unmanned ship 3 is provided with an electromagnetic suction plate 34 at the bow, and the electromagnetic suction plate 34 is assembled at the bow of the unmanned ship 3 through a front jib 33. The direction of the magnetic surface of the electromagnetic suction plate 34 is consistent with the direction of the bow.

[0057] A camera for monitoring is arranged at the bow of the unmanned ship 3. The unmanned ship 3 is also provided with a satellite positioning module and a wireless communication module. The satellite positioning module is a GPS positioning system, and the wireless communication module is a low-power Bluetooth module.

[0058] The remote control device configured for the unmanned ship 3 is arranged on the dredger 1, and the crew on the ship can remotely control the unmanned ship 3 to perform the specific bow blowing pipe operation through the remote control device. The floating ball can send position coordinates, and the unmanned ship can realize one-key tracking through the coordinates to automatically navigate to the vicinity of the floating ball, realize automatic docking in good wind and wave conditions, or complete the docking through the crew remote control mode.

[0059] The floating pipe docking system of the embodiment 1 has the following specific working process principles:

[0060] 1) A bow blowing platform 11 is arranged at the bow of the dredger 1, and a winch 12 is arranged for hoisting the unmanned ship 3, the floating body 4 and the floating pipe 2, and a cage 7 is arranged on the bow blowing platform 11, which is specially used as a hoisting carrier for the unmanned ship 3, and the cage 7 is retracted from the outside of the bow blowing platform 11, without affecting the part of the circular platform in the middle of the pipe. The transfer of the rope shackles from the outside to the inside is assisted by a lasso and a crew member. The unmanned ship 3 is loaded into the cage 7, and then the cage 7 is hoisted by the winch 12, so that the unmanned ship 3 can be hoisted.

[0061] 2) The floating ball 41 of the floating body 4 sends out a position data signal (in centimeters) to the outside through a positioning function module, and a positioning data signal receiving device capable of receiving the position data signal sent by the positioning function module is arranged on the dredger 1, and the dredger 1 receives the position data signal sent by the floating body 4 through the positioning data signal receiving device, so as to locate the position coordinates of the floating body 4.

[0062] The staff on the dredger 1 places the unmanned ship 3 on the water surface in advance through the winch 12 and the cage 7, and remotely controls the unmanned ship 3 to sail to the floating body 4 through a remote control device until the unmanned ship 3 meets the floating body 4.

[0063] The unmanned ship 3 continues to be remotely controlled to adjust the posture, so that the electromagnetic suction cup 34 at the bow is directly opposite a magnetic suction plate 44 on the floating body 4, the magnetic suction plate 44 and the connecting rod 42 are cylindrically connected, can rotate at a certain angle around the cylinder, and better adapt to the electromagnetic suction cup 34. At the same time, the electromagnetic suction cup 34 is controlled to be turned on, and under the action of the magnetic suction force, the electromagnetic suction cup 34 of the unmanned ship 3 and the magnetic suction plate 44 of the floating body 4 are attracted together, so that the unmanned ship 3 and the floating body 4 are connected together.

[0064] 3) The unmanned ship 3 with the floating body 4 returns to the bow blowing platform 11 of the dredger 1. A special sling 5 is arranged on the winch rope of the winch 12 (by unloading the buckle), and the lower end of the sling 5 is provided with a hooking hook 51. The winch 12 is controlled to lower the sling 5 until the hooking hook 51 of the sling 5 touches the hooking net 43 of the floating body 4, and the hooking hook 51 can be easily hooked with the hooking net 43. Then the winch 12 is controlled to lift, and the floating body 4 is hoisted and transported to the bow blowing platform 11.

[0065] Then the contact rope 6 arranged on the floating body 4 is disassembled and transferred to the winch rope of the winch 12 (while the sling 5 is removed), and the winch 12 is controlled to start running, so that the contact rope 6 pulls the pipe end of the floating pipe 2 to the dredging port at the bow of the dredger 1, and the pipe end of the floating pipe 2 is connected with the dredging port, so as to complete the bow blowing pipe connection operation.

[0066] 4) After the dredging work of the cutter suction dredger 1 is completed, the pipe end of the floating pipe 2 is detached from the sludge discharge port, the floating pipe 2 is put back to the water surface by the winch 12 and through the connection rope 6, the connection rope 6 is connected to the floating body 4 again, and then the floating body 4 is put back to the water surface.

[0067] Finally, the unmanned ship 3 is lifted back to the bow blowing platform 11 by the winch 12 through the cage 7 for standby (maintenance, charging, etc.), and the whole process is completed.

[0068] The hooking hook 51 used in the embodiment 1 is specially configured. Referring to Figure 3 , the hooking hook 51 is composed of three sub-hooks, the hook ends of each sub-hook are outward, and the angles between the normal planes of the adjacent two sub-hooks are all 120 degrees.

[0069] For the convenience of accurate description, the configuration of the hooking hook 51 with three sub-hooks and the angles between the normal planes of the adjacent two sub-hooks being the same is defined as an “outwardly and equally divided three-hook configuration”.

[0070] It should be noted that in other embodiments, the number of sub-hooks in the hooking hook 51 can be determined according to the needs. For the convenience of accurate description, this “configuration with multiple sub-hooks” is defined as an “outwardly and equally divided multi-hook configuration”. The previously mentioned “outwardly and equally divided three-hook configuration” is essentially a specific form of the “outwardly and equally divided multi-hook configuration”.

[0071] Preferably, the hook end of the sub-hook of the hooking hook 51 can be provided with a barb, which can prevent the hooked net 43 from being unhooked.

[0072] The floating pipe docking system of the embodiment 1 has the advantages that

[0073] 1) The bow blowing pipe docking operation is implemented by using the floating pipe docking system of the embodiment, in the operation process, the traditional “traffic ship and manual long rod operation” is not needed, the whole operation process can be completed without the operation personnel leaving the cutter suction dredger 1, thereby realizing unmanned operation, improving the docking success rate, effectively improving the operation efficiency, reducing the labor cost and time cost, and effectively protecting the safety of the operation personnel;

[0074] 2) The bow of the unmanned ship 3 is provided with a switch-controlled electromagnetic suction cup 34, and the periphery of the floating body 4 is provided with a magnetic suction plate 44. By controlling the attitude of the unmanned ship 3, the electromagnetic suction cup 34 of the unmanned ship 3 and one magnetic suction plate 44 of the floating body 4 are magnetically connected together, so that the unmanned ship 3 and the floating body 4 are conveniently connected together, which solves a big technical problem for finally realizing unmanned pipe docking and removes the technical obstacle.

[0075] Embodiment 2

[0076] Referring to Figure 4 and Figure 5 Embodiment 2 provides a floating pipe docking system for a spud barge with a water surface unmanned dinghy. The basic concept of the floating pipe docking system is consistent with Embodiment 1, and the difference lies in two aspects:

[0077] Firstly,

[0078] In Embodiment 2, the floating body 4 is not composed of three floating balls in a triangular connection and enclosure configuration as in Embodiment 1, but is realized by a single floating ball 41, and the floating ball 41 is also different from the floating ball in Embodiment 1.

[0079] Specifically,

[0080] A frame 412 is arranged on the upper part of the floating ball 41 body,

[0081] An iron plate 413 is arranged on the top of the frame 412,

[0082] A hooking net 414 is also arranged on the frame 412,

[0083] A counterweight 415 is arranged on the lower part of the floating ball 41 body,

[0084] The counterweight 415 serves to lower the overall center of gravity of the floating ball 41, so as to ensure that the structural components such as the frame 412 and the iron plate 413 are above the water surface.

[0085] The frame 412 can be used to connect the connecting rope 6, and the connection mode can adopt a shackle.

[0086] Secondly,

[0087] The electromagnetic suction cup 34 is no longer arranged at the bow of the unmanned ship 3, but the bow is designed in a “front fork configuration”.

[0088] Specifically,

[0089] The end of the side floating cabin body 32 towards the front extends out for a long distance, forming a front protruding part 321, and the front protruding parts 321 of the two side floating cabin bodies 32 on both sides of the main cabin body 31 combine with the front edge part of the main cabin body 31 to form a “fork-like” bow configuration. In order to facilitate description, this configuration is defined as a “front fork configuration”. That is, the bow of the unmanned ship 3 is in a front fork configuration. This front fork configuration is mainly used to hold the floating ball.

[0090] The specific working principle of the floating pipe docking system of Embodiment 1 is similar to that of Embodiment 1, and the main difference lies in that:

[0091] The combination between the unmanned ship 3 and the floating body 4 is not realized by the way of “suction connection”, but by the way of “the front fork configuration of the bow of the unmanned ship 3 holds the floating body 4 in the fork groove”, the front fork configuration of the bow of the unmanned ship 3 can hold the floating body 4 and move forward (as shown in Figure 4 The combination between the unmanned ship 3 and the floating body 4 is not realized by the way of “suction connection”, but by the way of “the front fork configuration of the bow of the unmanned ship 3 holds the floating body 4 in the fork groove”, the front fork configuration of the bow of the unmanned ship 3 can hold the floating body 4 and move forward (as shown in

[0092] It should be noted that in the embodiment 1, the bow of the unmanned ship 3 is essentially a combination of the front fork configuration and the electromagnetic suction disc 34, as long as the electromagnetic suction disc 34 and the front arm support 33 at the bow of the unmanned ship 3 are removed, it can be applied to the scene of the embodiment 2.

[0093] Preferably, the front arm support 33 can also be designed as a telescopic structure, so that the unmanned ship 3 can be used in the scene of the embodiment 1 and also in the scene of the embodiment 2.

[0094] In the scene of the embodiment 1, the front arm support 33 is extended, and the electromagnetic suction disc 34 protrudes forward,

[0095] In the scene of the embodiment 2, the front arm support 33 is retracted, and the electromagnetic suction disc 34 is retracted into the main cabin body 31, so that the bow of the unmanned ship 3 can become a front fork configuration.

[0096] Preferably, the front arm support 33 can also be designed as an upwardly turned structure, which can also adapt to the above-mentioned scenes.

[0097] In the embodiment 2, both the hooking net 414 and the iron disc 413 are provided on the floating body 4, so that the floating body 4 can be lifted in two modes.

[0098] The first mode is the hooking mode, in which the lifting rope 5 provided with the hooking hook 51 is used for lifting, the hooking hook 51 of the lifting rope 5 touches the hooking net 414 of the floating body 4, and the two can be hooked together, and the winch 12 can lift the floating body 4 through the lifting rope 5.

[0099] The second mode is the suction mode, in which the lower end of the lifting rope 5 is provided with a magnetic attraction part. First, open the magnetic attraction part at the lower end of the lifting rope 5, control the winch 12, so that the magnetic attraction part of the lifting rope 5 touches the iron disc 413 on the floating ball 41, thereby attracting the iron disc 413, and then the entire floating body 4 can be lifted.

[0100] Embodiment 3:

[0101] Referring to Figure 6 and Figure 7The third embodiment provides a spud barge bow-blowing floating pipe docking system using a water surface unmanned small boat. The basic concept of the floating pipe docking system is consistent with that of the first and second embodiments, but the difference is that a ball holder 35 is arranged on the unmanned boat 3, which is specially used for placing the floating body 4.

[0102] It should be noted that in the third embodiment, the floating body 4 is composed of a single floating ball 41, which is the same as the second embodiment.

[0103] In actual use, the unmanned boat 3 and the floating body 4 are combined together and not separated,

[0104] When the bow-blowing pipe operation is needed, the cage 7 is used to hoist the unmanned boat 3 together with the floating body 4 to the bow-blowing platform 11,

[0105] When the bow-blowing pipe operation is completed and the floating body 4 needs to be put back into the water, the cage 7 is used to hoist the unmanned boat 3 together with the floating body 4 to the water surface.

[0106] In summary, in the third embodiment, the unmanned boat 3 and the floating body 4 can be regarded as a combined body that is not separated.

[0107] The fourth embodiment:

[0108] The fourth embodiment provides a spud barge bow-blowing floating pipe docking system using a water surface unmanned small boat. The floating pipe docking system is improved on the basis of the floating pipe docking system provided in the second embodiment. The specific improvements are as follows:

[0109] Referring to Figure 8 A ball clamping device 36 is arranged on the hull of the unmanned boat 3, which is arranged at the bow of the unmanned boat 3. The ball clamping device 36 can be controlled to clamp or release. The ball clamping device 36 can be controlled to clamp and fix the floating ball, so as to facilitate the movement of the unmanned boat 3 clamping the floating ball.

[0110] More specifically, the ball clamping device 36 includes a main fixed frame 361 and two clamping arms.

[0111] The main fixed frame 361 spans the hull of the unmanned boat 3, and the two ends of the main fixed frame 361 are fixedly assembled with the two side floating cabin bodies 32, thereby realizing fixed connection with the hull of the unmanned boat 3.

[0112] The two clamping arms are a fixed clamping arm 362 and a movable clamping arm 363. The fixed clamping arm 362 is fixedly assembled with the main fixed frame 361, and the movable clamping arm 363 is assembled with the main fixed frame 361 through a displacement driving mechanism 364.

[0113] The displacement driving mechanism 364 has a driving capacity, and the displacement driving mechanism 364 can drive the movable clamping arm 363 to move laterally based on the main fixed frame 361, and the moving direction is towards the fixed clamping arm 362. Under the driving of the displacement driving mechanism 364, the movable clamping arm 363 can move close to or away from the fixed clamping arm 362.

[0114] The fixed clamping arm 362 and the movable clamping arm 363 are both provided with arc-shaped abutments 365, and the two arc-shaped abutments 365 are opposite to each other. When the movable clamping arm 363 moves close to the fixed clamping arm 362, the arc-shaped abutments 365 of the two arc-shaped abutments 365 can combine with each other to form a "ball clamping mode", and the floating ball can be clamped and fixed in the ball clamping mode. Since the clamping state is very stable, the floating ball can be prevented from being separated from the ship body.

[0115] The arc-shaped abutment 365 close to the bow part has a larger arc, which is close to a straight line, and facilitates the entry and exit of the ball. The arc close to the stern part is smaller, which facilitates the clamping and supporting of the ball.

[0116] It should be noted that the displacement driving mechanism 364 can adopt any device mechanism that can realize linear movement in the prior art.

[0117] In the fourth embodiment, the displacement driving mechanism 364 adopts a hydraulic telescopic cylinder, the piston rod of the hydraulic telescopic cylinder is fixed on the main fixed frame 361, and the movable clamping arm 363 is fixed and assembled with the cylinder body of the hydraulic telescopic cylinder. In this way, when the hydraulic telescopic cylinder acts, the piston rod is fixed based on the main fixed frame 361, and the cylinder body can move left and right, thereby driving the movable clamping arm 363 to move linearly.

[0118] In other embodiments, an electric telescopic cylinder can also be used as the displacement driving mechanism 364, which is easy to realize for those skilled in the art.

[0119] A guide rail mechanism can also be arranged between the movable clamping arm 363 and the main fixed frame 361 to realize the moving guide relationship therebetween.

[0120] The above are only preferred embodiments of the present application, and are not used to limit the protection scope of the present application, and therefore, any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A bow-blowing floating hose docking system for a trailing suction hopper vessel using an unmanned surface boat, characterized by: The floating tube docking system comprises an unmanned boat (3), a floating body (4) and a communication rope (6); The floating body (4) is connected to the floating tube (2) via a connecting rope (6); The unmanned boat (3) is used to drive the floating body (4) to and from the water surface and the bow blowing and taking over operation area.

2. A bow-blowing floating hose docking system for a trailing suction hopper vessel using an unmanned surface boat, characterized by: The floating tube docking system comprises an unmanned boat (3), a floating body (4) and a communication rope (6); The floating body (4) is connected to the floating tube (2) via a connecting rope (6); The floating body (4) is provided with a magnetic attraction plate (44), and the unmanned boat (3) is provided with an electromagnetic suction cup (34). The electromagnetic suction cup (34) of the unmanned boat (3) and the magnetic attraction plate (44) of the floating body (4) are adsorbed together, so that the unmanned boat (3) and the floating body (4) are connected together.

3. The bow-blowing floating hose docking system for a trailing suction hopper vessel using an unmanned surface boat according to claim 2, characterized in that: The electromagnetic suction cup (34) is assembled at the bow of the unmanned boat (3) through the forward extension arm (33), and the direction of the magnetic suction surface of the electromagnetic suction cup (34) is consistent with the direction of the bow; A plurality of magnetic attraction plates (44) are provided on the floating body (4), and all the magnetic attraction plates (44) face outwards.

4. The bow-blowing floating hose docking system for a trailing suction hopper vessel using an unmanned surface boat according to claim 3 is characterized in that: The forward extension arm (33) is a retractable structure. When the forward extension arm (33) is extended, the electromagnetic suction cup (34) protrudes forward. When the forward extension arm (33) is retracted, the electromagnetic suction cup (34) is retracted into the main cabin (31). The bow of the unmanned boat (3) is in a fork-shaped configuration. or, The front extension arm (33) is an upward flipping structure. The front extension arm (33) is flipped downward to make the electromagnetic suction cup (34) protrude forward. The front extension arm (33) is flipped upward, and the bow of the unmanned boat (3) is in a front fork configuration.

5. The bow-blowing floating hose docking system for a trailing suction hopper vessel using an unmanned surface boat according to claim 2, characterized in that: The floating body (4) includes at least three floating balls (41), and the floating balls (41) are connected and enclosed by connecting rods (42) to form a continuous enclosed configuration. A magnetic attraction plate (44) is provided on each connecting rod (42), and the magnetic attraction plates (44) are all facing outwards.

6. A bow-blowing floating hose docking system for a trailing suction hopper vessel using an unmanned surface boat, characterized by: The floating tube docking system comprises an unmanned boat (3), a floating body (4) and a communication rope (6); The floating body (4) is connected to the floating tube (2) via a connecting rope (6); The bow of the unmanned boat (3) is arranged in a fork configuration, and the fork-configured bow of the unmanned boat (3) can clamp the floating body (4) to move its position.

7. The bow-blowing floating hose docking system for a trailing suction hopper vessel using an unmanned surface boat according to claim 6, characterized in that: The floating body (4) is composed of a single float (41), a frame (412) is provided on the upper part of the float (41) body, an iron plate (413) is provided on the top of the frame (412), a hooking net (414) is also arranged on the frame (412), and a counterweight (415) is provided on the lower part of the float (41) body.

8. A bow-blowing floating hose docking system for a trailing suction hopper vessel using an unmanned surface boat, characterized by: The floating tube docking system comprises an unmanned boat (3), a floating body (4) and a communication rope (6); The floating body (4) is connected to the floating tube (2) via a connecting rope (6); The unmanned boat (3) is provided with a sphere clamping device (36).

9. A bow-blowing floating hose docking system for a trailing suction hopper vessel using an unmanned surface boat, characterized by: The floating tube docking system comprises an unmanned boat (3), a floating body (4) and a connecting rope (6); the floating body (4) is connected to the floating tube (2) via the connecting rope (6); a spherical support bracket (35) is provided on the unmanned boat (3), and the floating body (4) is placed in the spherical support bracket (35).

10. A method for docking a bow-blowing floating hose of a trailing suction hopper vessel using an unmanned surface boat, characterized in that: The floating pipe docking method adopts the floating pipe docking system according to any one of claims 1, 2, 6, 8 and 9 to implement the bow blowing pipe connection operation.

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