Water-air integrated unmanned docking system and method for bow blowing floating pipes of trailing suction dredger

Abstract

The invention discloses a water-air integrated unmanned docking system and method for bow blowing floating pipes of a trailing suction dredger. The floating pipe butt joint system comprises an unmanned aerial vehicle (3), a floating body (4) and a connection rope (6). The floating body is connected with the floating pipe (2) through a connecting rope; the unmanned aerial vehicle is provided with a lifting appliance special for lifting the floating body, and the unmanned aerial vehicle is used for lifting the floating body to and fro between the water surface and the bow blowing connecting pipe operation area; according to the floating pipe butt joint method, the floating pipe butt joint system is adopted for implementing bow blowing pipe connecting operation. When the floating pipe docking system and method are adopted to implement bow blowing pipe connecting operation, traditional traffic ships and manual long-rod operation are not needed, the whole operation process can be completed without the need for operators to leave the drag suction dredger (1), unmanned operation is achieved, the docking success rate is increased, the operation efficiency is effectively improved, the labor cost and the time cost are reduced, and the working efficiency is improved. And the safety of operators is effectively guaranteed.

Description

Technical Field

[0001] This invention relates to a ship dredging engineering technology, and more particularly to a water-air integrated unmanned trailing suction hopper dredger bow blow-floating pipe docking system and method. Background Technology

[0002] A trailing suction hopper dredger is a self-propelled dredger with its own mud hopper, capable of suction while moving. During operation, the stern lowers the drag bar to pull in seabed mud and water into the hopper. Once fully loaded, it sails to the dumping area or reclamation area, where it discharges the mud via bow dredging or bottom dredging. Due to its high maneuverability and continuous operation, it is widely used in port and waterway maintenance and land reclamation.

[0003] During dredging operations, a core piece of equipment called a floating pipe is needed. The floating pipe, also known as a "floating sludge discharge pipeline," consists of floats mounted on its outer side, allowing the entire pipeline to suspend above the water surface. One end of the floating pipe connects to the dredging vessel's discharge port (bow blow or side blow), while the other end extends to the reclamation area or the shoreline, continuously transporting sludge from the hopper to a designated location. The process of connecting the floating pipe to the dredging vessel's discharge port is referred to as "bow blow connection."

[0004] Traditionally, bow blowdown connections are typically made manually, and the specific process is as follows:

[0005] 1) Pre-installation of floating pipe: A section of floating pipe is pre-laid on the sea surface, and the end is connected to a buoy through a large steel wire → small steel wire → fiber rope. The buoy floats and is ready to be attached.

[0006] 2) Searching for the buoy by transport ship: Transport ships search for the buoy on the sea surface with the naked eye, which is time-consuming due to wind, waves and visibility.

[0007] 3) Manual salvage: The crew uses a long pole to hook the buoy onto the transport vessel, and then retrieves the fiber rope, small steel wire, and large steel wire in sequence until the shackle connected to the buoy is found.

[0008] 4) Ship-to-ship transfer: The trailing suction hopper liner lowers the winch wire rope and shackle; the crew of the transport ship hooks it with a long pole and manually connects the shackle on the ship to the winch shackle, leaving the buoy and fiber rope on the transport ship.

[0009] 5) Tightening the docking: The trailing suction hopper gantry winch pulls the rope up to the bow, where the male and female ends are docked, and the bow blowdown operation begins.

[0010] 6) Construction Completion - Restoration: After the operation is completed, the crew of the trailing suction hopper vessel drops the shackles, and the crew of the transport vessel re-tie the fiber rope and buoy; the ship crew retrieves the buoy and connects it with a small steel wire, and releases it back into the sea along with the floating pipe, waiting for the next docking.

[0011] In summary, the current problem is:

[0012] The current bow-blow takeover relies on manual operation by transport vessels, which is difficult to find buoys in wind and waves, slow to dock, and costly. It also carries the risk of collisions between transport vessels and large ships and personnel falling into the sea. There is an urgent need for a safer, more accurate, more efficient, and lower-cost alternative. Summary of the Invention

[0013] The purpose of this invention is to provide an unmanned, integrated water-air trailing suction hopper vessel bow blow-through floating pipe docking system and method. By using this floating pipe docking system and method to carry out bow blow-through pipe docking operations, unmanned operation is achieved during the operation, which effectively improves the operation efficiency and reduces labor and time costs.

[0014] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0015] A water-air integrated unmanned trailing suction hopper dredger bow blow-through floating pipe docking system is disclosed. The floating pipe docking system includes a drone, a floating body, and a connecting rope. The floating body is connected to the floating pipe via the connecting rope. The drone is equipped with a lifting device specifically for lifting the floating body, and the drone is used to lift the floating body back and forth between the water surface and the bow blow-through pipe docking operation area.

[0016] A water-air integrated unmanned trailing suction hopper dredger bow-blown floating pipe docking system is disclosed. The floating pipe docking system includes an unmanned aerial vehicle (UAV), a floating body, and a connecting rope. The floating body is connected to the floating pipe via the connecting rope. The floating body is equipped with a hook net. The UAV is equipped with a sling, and the sling is equipped with a hook. When the hook touches the hook net, it can hook together with the net.

[0017] Furthermore, the hook is an outwardly distributed multi-hook configuration, and each sub-hook of the hook is provided with a barb at its end.

[0018] Furthermore, the floating body has a positioning function module and a communication function module, and the UAV is equipped with a satellite positioning module; the positioning function module is a three-source positioning system consisting of real-time differential positioning, Beidou satellite and Bluetooth.

[0019] Furthermore, the floating body includes a frame and at least one buoy, the buoy being assembled with the frame, the total center of gravity of all the buoys being directly above the center of gravity of the frame, and the hook net being arranged within the frame.

[0020] Furthermore, the floating body includes at least three buoys, which are connected by connecting rods to form a continuous enclosure configuration, and the hook net is set within the enclosure range of the continuous enclosure configuration.

[0021] Furthermore, the interlocking mesh has a central convex configuration.

[0022] A water-air integrated unmanned trailing suction hopper dredger bow-blown floating pipe docking system is disclosed. The system includes a drone, a buoy, and connecting ropes. The buoy is connected to the floating pipe via the connecting ropes. A frame is provided on the upper part of the buoy, an iron plate is provided on the top of the frame, and a hook net is arranged on the frame. The drone is equipped with a sling, which can be equipped with a magnetic component or a hook. The magnetic component can attract the iron plate on the buoy, and the hook can hook onto the hook net when it touches it.

[0023] Furthermore, a counterweight is provided at the lower part of the float.

[0024] A method for docking a bow blowdown floating pipe on a water-air integrated unmanned trailing suction hopper vessel, wherein the floating pipe docking method uses the floating pipe docking system described above to carry out the bow blowdown pipe docking operation.

[0025] The main advantages of the unmanned, integrated water-air trailing suction hopper dredger bow-blown floating pipe docking system and method of the present invention compared with the prior art are as follows:

[0026] The floating pipe docking system and method of this invention are used to carry out bow blowdown pipe connection operations. During the operation, there is no need for traditional transport vessels and manual long pole operation. The entire operation can be completed without the operators leaving the trailing suction hopper dredger, thus achieving unmanned operation, improving the docking success rate, effectively improving operation efficiency, reducing labor and time costs, and effectively ensuring the safety of operators. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the bow-blown floating pipe docking system of a water-air integrated unmanned trailing suction hopper dredger based on Embodiment 1 of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the floating body used in the floating pipe docking system of Embodiment 1;

[0029] Figure 3 This is a schematic diagram of the floating body being transported by a drone in the floating pipe docking system of Implementation Method 1;

[0030] Figure 4 This is a schematic diagram of the slings and hooks used in the floating pipe docking system of Embodiment 1.

[0031] Figure 5 This is a schematic diagram of the floating body used in the floating pipe docking system according to Embodiment 2 of the present invention;

[0032] Figure 6 This is a schematic diagram of the floating body used in the floating pipe docking system based on Embodiment 3 of the present invention. Detailed Implementation

[0033] The following provides further details on specific embodiments of the present invention:

[0034] Implementation method 1:

[0035] This embodiment 1 provides an unmanned trailing suction hopper dredger bow-blown floating pipe docking system.

[0036] See Figure 1 The floating pipe docking system of this embodiment 1 mainly includes a drone 3, a floating body 4, and a connecting rope 6.

[0037] One end of the connecting rope 6 is connected to the opening end of the floating tube 2, and the other end of the connecting rope 6 is assembled with the floating body 4. In this way, the floating body 4 is connected to the opening end of the floating tube 2 through the connecting rope 6.

[0038] In this embodiment 1, the connecting rope 6 is composed of three rope segments: a large steel wire rope 61, a small steel wire rope 62, and a fiber rope 63. The three rope segments are connected by steel wire rope shackles. The large steel wire rope 61 is connected to the end of the float tube 2 via a shackle, and the fiber rope 63 is assembled and connected to the float 4 via a shackle.

[0039] See Figure 2 The floating body 4 has a triangular overall shape and mainly consists of three buoys 41.

[0040] The three floats 41 are arranged in a triangular array, that is, the three floats 41 are not in a straight line, and the triangular array is an equilateral triangle, that is, the distance between any two floats 41 is equal. A connecting rod 42 is set between each pair of adjacent floats 41, and the two ends of the connecting rod 42 are respectively assembled and connected to the two floats 41, thus forming the main structure of the entire floating body 4.

[0041] It should be noted that in other embodiments, the configuration of the float 4 is not necessarily triangular (i.e., the number of floats 41 can be greater than three), but can also be polygonal, circular, or other forms of enclosed configuration where the edges are connected by floats 41 and connecting rods 42 at intervals. For ease of description, such a configuration where "three or more floats 41 are connected by connecting rods 42" is defined as a "connected enclosed configuration", while the configuration where "three floats 41 are connected by connecting rods 42" can be called a "triangular connected enclosed configuration".

[0042] In other words, in this embodiment 1, the three floats 41 are assembled and connected in a triangular continuous enclosure configuration and through connecting rods 42.

[0043] The floating body 4 is also provided with a hook net 43, which is set within the enclosure of the triangular continuous enclosure configuration, that is, within the enclosure of the float 41 and the connecting rod 42. The edge of the hook net 43 is bound together with the connecting rod 42, thereby assembling the hook net 43 onto the floating body 4.

[0044] The float 41 is equipped with a positioning function module and a communication function module to facilitate "self-positioning" and "external data communication".

[0045] The positioning module is a Beidou positioning module, and its signal terminal is located on the surface of the float 41.

[0046] Specifically, the positioning module is a three-source positioning system consisting of real-time differential positioning (RTK), BeiDou satellite, and Bluetooth. When using this three-source positioning system for positioning, communication is conducted via BeiDou satellite or a self-organizing network. The three-source positioning system achieves centimeter-level accuracy (real-time differential positioning (RTK), full-area coverage (BeiDou satellite), and close-range calibration (Bluetooth) through data fusion algorithms, ensuring real-time attitude tracking of the buoy 41 in complex sea conditions.

[0047] The communication module adopts a dual-redundant link of BeiDou short message service and Mesh self-organizing network to ensure reliable transmission of commands and data in harsh environments.

[0048] The specific size of the float 41 can be determined according to actual needs.

[0049] It should be noted that the float 41 is provided with a shackle assembly ring, which is used to assemble and connect with the fiber rope 63 in the connecting rope 6 via a shackle.

[0050] See Figure 3 The drone 3 is a high-payload drone based on existing technology, with a maximum payload of 30 kg and wind resistance of level 4 or higher. Those skilled in the art will understand that the drone 3 is equipped with a satellite positioning module to determine its own location.

[0051] The drone 3 is equipped with a sling 5, which is actually a steel wire rope equipped with a hook 51.

[0052] The upper end of the sling 5 is attached to the bottom of the drone 3 via a shackle. The bottom of the drone 3 is equipped with a lifting ring for attaching the shackle. A clutch device is provided for the lifting ring. When the wind is strong, the sling and load can be cut off by controlling the clutch device to ensure the safety of the drone.

[0053] The remote control device configured for the drone 3 is installed on the trailing suction hopper dredger 1, and the personnel on board can use the remote control device to remotely control the drone 3 to tow the sling 5 to carry out specific bow blowdown and pipe connection operations.

[0054] The hook 51 used on the sling 5 has a specially designed configuration. See also Figure 4 The hook 51 is composed of three sub-hooks combined together. The hook tip of each sub-hook faces outward, and the angle between the normal planes of all two adjacent sub-hooks is the same, which is 120 degrees.

[0055] For ease of accurate description, the configuration of the hook 51 described above, which has "three sub-hooks and the angle between the normal planes of two adjacent sub-hooks is the same", is defined as "outwardly evenly divided three-hook configuration".

[0056] It should be noted that in other embodiments, the number of sub-hooks in the hook 51 can be determined according to the requirements. For ease of accurate description, this configuration with "multiple sub-hooks" is defined as "outwardly evenly distributed multi-hook configuration"; the previously mentioned "outwardly evenly distributed three-hook configuration" is actually a specific form of "outwardly evenly distributed multi-hook configuration".

[0057] Preferably, a barb can be provided at the hook end of the sub-hook of the hook 51 to prevent the hooked net 43 from coming off the hook.

[0058] In addition, some other modifications were made to the drone 3 to achieve certain specific functions, as follows:

[0059] 1) The UAV 3 is equipped with an altitude measurement sensor, which maintains a safe altitude of 10m above the water surface by monitoring air pressure or sonar reflection ranging.

[0060] 2) The UAV 3 is equipped with a water-falling inflation device on the support to prevent the UAV 3 from sinking underwater when it falls into the water, and to facilitate retrieval.

[0061] The working principle of the floating pipe docking system in this embodiment 1 is as follows:

[0062] 1) The buoy 41 of the floating body 4 sends out position data signals (centimeter level) through the positioning function module. The trailing suction hopper dredger 1 is equipped with a positioning data signal receiving device that can receive the "position data signal sent by the positioning function module". The trailing suction hopper dredger 1 receives the position data signal sent by the floating body 4 through the positioning data signal receiving device, thereby locating the position coordinates of the floating body 4. The staff on the trailing suction hopper dredger 1 launches the drone 3 in advance and remotely controls the drone 3 to drag the sling 5 towards the floating body 4 until it meets the floating body 4. The remotely controlled drone 3 descends to a height where "the hook 51 of the sling 5 can touch the hook net 43 on the floating body 4" and then continues to remotely control the drone 3 so that the hook 51 of the sling 5 touches the hook net 43 on the floating body 4. Due to the special configuration design of the hook 51 (the hook 51 is an outward three-hook configuration), once the hook 51 touches the hook net 43, it can easily hook the hook net 43, thereby suspending the entire floating body 4 under the drone 3.

[0063] 2) A bow blower platform 11 is set up at the bow of the trailing suction hopper dredger 1, and a winch 12 is configured there. A drone 3, which is remotely controlled and suspended with a floating body 4, flies back to the trailing suction hopper dredger 1 and hovers at a suitable height above the bow blower platform 11. At the bow blower platform 11, the workers remove the connecting rope 6 that is attached to the floating body 4 and transfer it to the winch cable of the winch 12 (by shackle). The winch 12 is then started to operate, thereby pulling the end of the floating pipe 2 to the sludge discharge port at the bow of the trailing suction hopper dredger 1 through the connecting rope 6, so that the end of the floating pipe 2 is connected to the sludge discharge port, thus completing the bow blower connection operation.

[0064] 3) After the trailing suction hopper dredger 1 completes the reclamation operation, the end of the floating pipe 2 is detached from the sludge discharge port. The floating pipe 2 has grooves, and a horizontal hydraulic locking device inside the bow platform 11 holds the floating pipe 2 in place. After use, the locking device is released, and the floating pipe 2 will descend under gravity, slowly pulled down by the steel wire rope. The small steel wire rope 62 and the large steel wire rope 61 are both stored on the winch 12. At this time, they descend with the floating pipe 2. When the small steel wire rope 62 reaches the appropriate height of the bow platform 11 (at this time, the floating pipe 2 and the large steel wire rope 61 are already in the water, and the small steel wire rope 62 has little load-bearing capacity), the drone 3 takes off with the floating body 4 and the fiber rope 63, hovers, and the crew connects the fiber rope 63 to the small steel wire rope 62. The drone 3 then completes the subsequent actions.

[0065] Control the drone 3 to fly away from the bow blowing platform 11 and lower the floating body 4 to the sea surface. Then control the drone 3 to disconnect the sling 5, and the sling 5 will fall onto the hook net 43 of the floating body 4. Then control the drone 3 to fly back to the trailing suction hopper dredger 1 to stand by (maintenance, charging, etc.).

[0066] The floating tube docking system of this embodiment 1 has the following advantages:

[0067] 1) The floating pipe docking system of this embodiment is used to carry out the bow blow pipe docking operation. During the operation, there is no need for the traditional "transport vessel and manual long pole operation". The entire operation can be completed without the operators leaving the trailing suction hopper dredger 1, thus realizing unmanned operation, improving the docking success rate, effectively improving the operation efficiency, reducing labor and time costs, and effectively ensuring the safety of operators.

[0068] 2) The hook 51 of the sling 5 adopts a special structural design. The hook 51 is an outward three-hook configuration. In this way, when the hook 51 touches the hook net 43, it is easy to hook together, which makes it easier for the drone 3 to be connected with the floating body 4.

[0069] 3) The UAV 3 is modified and can perform functions including: altitude and distance measurement, automatic floating upon landing in water, and automatic unhooking, which facilitates the sling 5 to be detached from the UAV 3.

[0070] It should be noted that in other embodiments, the three floats 41 in the floating body 4 can also be arranged in a straight line. Specifically, the float 41 in the middle is larger than the floats 41 at both ends, and the entire floating body 4 is spindle-shaped.

[0071] Furthermore, while a triangular arrangement of the three floats 41 is stable, other arrangements, such as circular or elliptical frames, are not excluded. The specific choice depends on the float's price, buoyancy, materials, the float itself, and the reliability of its connection with the metal frame.

[0072] Furthermore, it should be noted that in other embodiments, two buoys may also be used in a single floating body.

[0073] Specifically, the floating body includes two buoys and a frame. The frame can be of any shape, such as a square or circular frame. The two buoys are fixedly mounted on the frame, and the line connecting the centers of gravity of the two buoys passes directly above the center of gravity of the frame. More precisely, the combined center of gravity of the two buoys is directly above the center of gravity of the frame, thus enabling the entire floating body to float stably on the water surface. A hook-and-loop net is then placed within the frame area.

[0074] In extreme cases, a buoy can be used in the floating body, or it can be combined with the frame to form a net with a grappling hook.

[0075] Specifically, the floating body includes a buoy and a frame. The frame can be of any shape, such as a square or circular frame. The buoy is fixedly mounted on the frame, and is positioned directly above the center of gravity of the frame, allowing the entire floating body to float stably on the water surface. A hook-and-loop net is then placed within the frame area.

[0076] Implementation Method 2:

[0077] See Figure 5 This embodiment 2 provides an unmanned, integrated water-air trailing suction hopper dredger bow-blown floating pipe docking system. The basic concept of this floating pipe docking system is consistent with that of embodiment 1, with two differences:

[0078] Firstly,

[0079] In this embodiment 2, the floating body 4 is not composed of three floats arranged in a triangular configuration as in embodiment 1, but is realized by a single float 41, and the float 41 is also different from the float in embodiment 1.

[0080] Specifically

[0081] A frame 412 is provided on the upper part of the float 41 body.

[0082] An iron plate 413 is provided at the top of the frame 412.

[0083] A connecting net 414 is also arranged on the frame 412.

[0084] A counterweight 415 is provided at the lower part of the float 41 body.

[0085] The function of the counterweight 415 is to lower the overall center of gravity of the float 41, thereby ensuring that structural components such as the frame 412 and the iron plate 413 are above the water surface.

[0086] The frame 412 can be used to connect the connecting rope 6, and the connection method can be a shackle.

[0087] Secondly,

[0088] The component at the lower end of the sling 5 for connecting the floating body 4 can be of two types.

[0089] One form is the hook 51 used in embodiment 1.

[0090] Another form uses a magnetic attraction component (usually an electromagnet) with a controllable switch, which can be controlled to "turn on the magnetic attraction" or "turn off the magnetic attraction".

[0091] It should be noted that the magnetic component here is equipped with communication and control functions, allowing for wireless remote control and includes a camera for easy remote observation.

[0092] In this second embodiment, when using the drone 3 to contact and lift the floating body 4, two modes can be adopted:

[0093] The first mode is the hooking mode, in which a hook 51 is installed at the lower end of the sling 5.

[0094] Specifically, it is similar to the form used in Implementation 1, that is, the remote-controlled drone 3 descends, so that the hook 51 of the sling 5 touches the hook net 414 on the float 41. Once the hook 51 touches the hook net 414, it can hook the hook net 414, thereby suspending the entire floating body 4 under the drone 3.

[0095] This connection mode is suitable for scenarios that require rapid release.

[0096] The second mode is the adsorption mode, in which a magnetic adsorption component is provided at the lower end of the sling 5.

[0097] First, open the magnetic attraction component at the lower end of the sling 5, and remotely control the drone 3 to descend so that the magnetic attraction component of the sling 5 touches the iron plate 413 on the float 41, thereby attracting the iron plate 413 and suspending the entire floating body 4 under the drone 3. When the operation is completed and the floating body 4 needs to be returned to the sea surface, simply turn off the magnetic attraction component to demagnetize it, and the magnetic attraction component will detach from the iron plate 413 on the float 41, thereby detaching the entire floating body 4 from the sling 5.

[0098] This adsorption method is suitable for scenarios requiring precise delivery.

[0099] In addition, the shackles used to assemble the connecting rope 6 can be fastened to the frame 412 or to the hook net 414, thereby achieving connection with the floating body 4.

[0100] Implementation Method 3:

[0101] See Figure 6 This embodiment 3 provides an unmanned, integrated water-air trailing suction hopper vessel bow-blown floating pipe docking system. The basic concept of this floating pipe docking system is consistent with that of embodiments 1 and 2, the difference being the configuration of the floating body 4. In this embodiment 3, the hook net 43 in the floating body 4 has an upward-protruding middle section.

[0102] Specifically, three arched rods 44 are also provided in the floating body 4. For each arched rod 44, its two ends are connected to two adjacent floats 41. The arched rod 44 arches upward as a whole. The three arched rods 44 push the middle part of the hook net 43 upward, that is, the middle part of the hook net 43 protrudes upward.

[0103] For ease of description, this configuration of the hook net 43 is defined as the "central convex configuration," that is, the hook net 43 has a central convex configuration. This central convex configuration is very advantageous for the hook 51 of the sling 5 to be hooked together with the hook net 43 of the floating body 4.

[0104] Specifically, the three-dimensional shape of the "central convex structure" has a three-dimensional staggered state of the net ropes. This state is very conducive to the hook end of the hook 51 entering the mesh, so that the hook 51 and the hook net 43 can be easily hooked together.

[0105] The above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A water-air integrated unmanned trailing suction hopper dredger bow-blown floating pipe docking system, characterized in that: The floating pipe docking system includes a drone (3), a floating body (4), and a connecting rope (6); The floating body (4) is connected to the floating tube (2) by a connecting rope (6); The drone (3) is equipped with a lifting device specifically designed for lifting floating objects (4). The drone (3) is used to lift the floating body (4) back and forth between the water surface and the bow blow pipe operation area.

2. A water-air integrated unmanned trailing suction hopper dredger bow-blown floating pipe docking system, characterized in that: The floating pipe docking system includes a drone (3), a floating body (4), and a connecting rope (6); The floating body (4) is connected to the floating tube (2) by a connecting rope (6); The floating body (4) is equipped with a hook net (43); The drone (3) is equipped with a sling (5), which is equipped with a hook (51) that can hook together with the hook net (43) when it touches it.

3. The unmanned trailing suction hopper dredger bow-blown floating pipe docking system according to claim 2, characterized in that: The hook (51) is an outwardly distributed multi-hook configuration, and each sub-hook of the hook (51) has a barb at its end.

4. The unmanned trailing suction hopper dredger bow-blown floating pipe docking system according to claim 2, characterized in that: The floating body (4) has a positioning function module and a communication function module, and the UAV (3) is equipped with a satellite positioning module; the positioning function module is a three-source positioning system composed of real-time differential positioning, Beidou satellite and Bluetooth.

5. The unmanned trailing suction hopper dredger bow-blown floating pipe docking system according to claim 2, characterized in that: The floating body (4) includes a frame and at least one buoy (41), which is assembled with the frame. The total center of gravity of all the buoys (41) is located directly above the center of gravity of the frame. The hook net (43) is arranged within the frame.

6. The unmanned trailing suction hopper dredger bow-blown floating pipe docking system according to claim 2, characterized in that: The floating body (4) includes at least three buoys (41), which are connected by connecting rods (42) to form a continuous enclosure configuration. The hook net (43) is set within the enclosure of the continuous enclosure configuration.

7. The unmanned trailing suction hopper dredger bow-blown floating pipe docking system according to claim 2, characterized in that: The interlocking mesh (43) has a central convex structure.

8. A water-air integrated unmanned trailing suction hopper dredger bow-blown floating pipe docking system, characterized in that: The floating pipe docking system includes a drone (3), a buoy (41), and a connecting rope (6); The buoy (41) is connected to the float (2) by a connecting rope (6); A frame (412) is provided on the upper part of the float (41). An iron plate (413) is provided on the top of the frame (412). A connecting net (414) is arranged on the frame (412). The drone (3) is equipped with a sling (5), which can be equipped with a magnetic component or a hook (51). The magnetic component can attract the iron plate (413) set on the float (41). When the hook (51) touches the hook net (414), it can hook together with it.

9. The unmanned trailing suction hopper dredger bow-blown floating pipe docking system according to claim 8, characterized in that: The lower part of the float (41) is provided with a counterweight (415).

10. A method for docking the bow blow-floating pipe of a water-air integrated unmanned trailing suction hopper dredger, characterized in that: The floating pipe docking method employs the floating pipe docking system as described in any one of claims 1, 2, and 8 to carry out the bow blowdown pipe connection operation.

Images