A docking device and method for active capture of floating pipe bodies on the water surface

Abstract

This invention provides a docking device and method for actively capturing floating pipes on the water surface, belonging to the field of nuclear power plant cold source interception net waste cleaning technology. The docking device and method for actively capturing floating pipes on the water surface includes a hull and a floating body unit, both of which float on the water surface. A docking male is provided at the bow of the hull. It also includes: a multi-degree-of-freedom moving unit installed at the bow of the hull; and a docking unit installed on the multi-degree-of-freedom moving unit for grasping the floating body unit, achieving active capture and precise docking of the floating pipe. Through the multi-degree-of-freedom moving unit, the conical docking structure, and sensor positioning, it automatically compensates for bilateral dynamic disturbances caused by waves and water flow, completing docking without manual assistance, significantly improving docking efficiency and accuracy, avoiding interface collision damage and leakage, and eliminating the safety risk of falling into the water during manual operation. It can still operate stably in complex sea conditions.

Description

Technical Field

[0001] This invention belongs to the field of nuclear power plant cold source interception net waste cleaning technology, specifically involving a docking device and method for active capture of floating pipe bodies on the water surface. Background Technology

[0002] At the cold source intake of nuclear power plants, large intercepting nets are typically used to collect floating debris (such as aquatic plants, plastics, and marine organisms) to prevent clogging and ensure the safe operation of the nuclear power plant. Once the nets have collected a certain amount of debris, a specialized suction vessel is used to navigate to the vicinity of the nets and transfer the debris to the vessel.

[0003] Currently, the main docking method involves the suction dredger directly approaching the net, or the crew using tools to manually connect the fixed male suction head on the dredger to the floating female suction head on the net. However, due to dynamic disturbances in the marine environment such as waves and currents, the position and attitude (tilt, rotation) of the net and its female suction head on the water surface are constantly changing, and the suction dredger itself also experiences swaying. This bilateral dynamic instability results in the following prominent problems with traditional docking methods:

[0004] 1. Low docking efficiency: It requires multiple crew members to work together, repeatedly try and adjust the ship's position, and use cable binding to connect, which consumes a lot of time.

[0005] 2. Poor mating accuracy: It is difficult to achieve precise alignment of male and female connectors, which can easily lead to interface collision damage or incomplete mating, resulting in leakage.

[0006] 3. High safety risks: There is a risk of falling into the water when operating manually on the ship's side or on the water.

[0007] 4. Highly constrained by the environment: In slightly rougher winds and waves, manual docking is almost impossible, which seriously affects the timeliness of garbage collection.

[0008] The root cause of these problems is that existing technologies lack a docking mechanism that can automatically compensate for bilateral dynamic disturbances, achieve active positioning, capture, and precise guidance. Summary of the Invention

[0009] The purpose of this invention is to provide a docking device and method for actively capturing floating pipes on the water surface, aiming to solve the problems of low docking efficiency, poor accuracy, high safety risks, and susceptibility to wind and wave environments in the existing manual docking method for floating hose interfaces.

[0010] To achieve the above objectives, the present invention provides the following technical solution: a docking device for active capture of a floating tube body on the water surface, comprising: a hull and a floating body unit, both of which float on the water surface, a docking male connector being provided at the bow of the hull, and further comprising:

[0011] A multi-degree-of-freedom movement unit is installed at the bow of the ship's hull.

[0012] The docking unit, installed on the multi-degree-of-freedom moving unit, is used to grasp the floating unit, and at the same time, the multi-degree-of-freedom moving unit can control the docking unit to move in multiple degrees of freedom.

[0013] The tube body is installed on the floating unit. One end of the tube body is connected to a female connector that mates with the male connector, and the other end is connected to a net bag.

[0014] The clamping assembly is located below the multi-degree-of-freedom moving unit on the hull and is used to position the floating unit. Once the floating unit is positioned, the docking unit can grab the floating unit.

[0015] The first sensor, installed on the multi-degree-of-freedom moving unit, is used to identify and locate the floating unit.

[0016] A further technical solution of the present invention is that a fixing member is provided on the tube body, and a torsion plate is fixedly connected to both sides of the fixing member. A sliding cylinder is provided on both sides of the tube body on the float unit. The sliding cylinder is fixed to the float unit by the fixing plate. A torsion groove is opened in the sliding cylinder. The torsion plate can slide inside the torsion groove. An elastic member is provided between the fixing plate and the fixing member to keep them away from each other.

[0017] A further technical solution of the present invention is that the floating body unit includes a plurality of floats evenly distributed on both sides of the tube body, and the floats are provided with mounting frames, which are connected to the tube body through fixing plates, fixing parts and torsion plates.

[0018] A further technical solution of the present invention is that the mounting frame is composed of two frames, which are respectively located on both sides of the tube body. A sliding rod is provided between the two frames, and the frames can slide on the sliding rod. Limiting blocks for limiting the sliding of the frames are provided at both ends of the sliding rod.

[0019] A further technical solution of the present invention is that the tube body is Z-shaped, the female connector is located at the upper end of the tube body, and the net is located at the lower end of the tube body.

[0020] A further technical solution of the present invention is that a groove is provided at the bow of the hull, and the clamping assembly includes telescopic members installed on both sides of the bow. The telescopic ends of the telescopic members penetrate into the interior of the groove and are fixedly connected to a clamping plate.

[0021] A further technical solution of the present invention is that the docking unit includes a mounting base rotatably mounted on a multi-degree-of-freedom moving unit, a plurality of positioning posts are provided on the mounting base, positioning holes that cooperate with the positioning posts are provided on the mounting frame, an electromagnetic chuck that can attract the mounting frame is provided above the positioning posts, and a second sensor is provided on the mounting base for identifying and positioning the positioning holes.

[0022] A further technical solution of the present invention is that the docking end of the male connector has an outer conical structure, the docking end of the female connector has an inner conical structure, and an airbag is provided on the male connector.

[0023] A further technical solution of the present invention is that a V-shaped plate is provided on the side of the frame that is far apart from each other, and the opening direction is towards the clamping assembly. The cross-section of the clamping plate is trapezoidal, and the inclined surface is parallel to the inclined surface of the V-shaped plate. A counterweight is provided below the frame.

[0024] A docking method for active capture of floating pipe bodies on the water surface includes the following steps:

[0025] S1. Drive the hull into the floating unit and make the floating unit enter the groove of the hull;

[0026] S2. Activate the clamping assembly to clamp the floating unit, bringing the two frames closer together, and flip the tube to lift the docking head off the water surface.

[0027] S3, V-shaped plates and clamps position the frame horizontally to ensure the verticality of the positioning holes;

[0028] S4. The multi-degree-of-freedom moving unit controls the docking unit to insert the positioning pin into the positioning hole, and then cancels the clamping assembly's clamping of the floating unit.

[0029] S5. The multi-degree-of-freedom moving unit drives the tube body to move through the floating body unit, so that the docking female head and the docking male head can be docked.

[0030] S6. Lock the male and female connectors together, then inflate the airbag to seal the male and female connectors.

[0031] S7. The hull sucks out impurities from inside the net.

[0032] S8. After suction is completed, the clamping assembly re-clamps the float unit, disconnects the male and female docking heads, and pulls the positioning pins on the docking unit out of the positioning holes. Then the clamping assembly releases the float unit, and under the action of the elastic element, the female docking head is brought closer to the sea surface again.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] 1. Achieve active capture and precise docking of floating tubes. Through multi-degree-of-freedom moving units, conical docking structures and sensor positioning, automatically compensate for bilateral dynamic disturbances caused by waves and water flow. Docking can be completed without manual assistance, greatly improving docking efficiency and accuracy, avoiding interface collision damage and leakage, and eliminating the safety risks of falling into the water during manual operation. It can still operate stably in complex sea conditions.

[0035] 2. It has a self-cleaning and anti-detachment function for the docking head. The flipping structure allows the docking head to be close to the sea surface, using waves and water flow to wash away attached marine debris and ensure the reliability of the seal. The cooperation of the elastic element, positioning post and electromagnetic chuck not only prevents the mounting bracket from falling off due to power failure or magnetic force attenuation, but also reduces the leakage of impurities in the net bag, and improves the operational stability and service life of the device. Attached Figure Description

[0036] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0037] Figure 1 This is a schematic diagram of a specific embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the structure of the multi-degree-of-freedom movement unit in a specific embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of the floating body unit in a specific embodiment of the present invention;

[0040] Figure 4 This is a top view of the floating body unit in a specific embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the flipping structure in a specific embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of the clamping assembly in a specific embodiment of the present invention;

[0043] Figure 7 This is a schematic diagram of the tube body in its natural state in a specific embodiment of the present invention.

[0044] In the diagram: 1. Hull; 11. Male docking head; 111. Airbag; 12. Groove; 13. Clamping assembly; 131. Telescopic component; 132. Clamping plate; 2. Multi-degree-of-freedom movement unit; 3. Docking unit; 31. Mounting base; 32. Positioning column; 33. Electromagnetic chuck; 34. Positioning hole; 35. Second sensor; 4. Float unit; 41. Float; 42. Mounting bracket; 421. Frame; 422. Slide bar; 423. Limiting block; 424. Counterweight; 5. Tube body; 51. Female docking head; 6. Net bag; 7. Tilting structure; 71. Fixing component; 72. Torsion plate; 73. Slide bar; 731. Torsion groove; 74. Fixing plate; 75. Elastic component; 8. V-shaped plate. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Please see Figures 1-7 The present invention provides the following technical solution: a docking device for active capture of floating tube bodies on the water surface, comprising a hull 1, a multi-degree-of-freedom moving unit 2, a docking unit 3, a floating unit 4, a tube body 5, and a net 6.

[0047] A multi-degree-of-freedom (MDOF) moving unit 2 is installed at the bow of the hull 1. A docking unit 3 is installed on the MDOF moving unit 2, enabling the MDOF moving unit 2 to drive the docking unit 3 to move in multiple degrees of freedom. A tube 5 is installed on a floating unit 4, allowing the tube 5 to float on the water surface via the floating unit 4. A net 6 is installed at one end of the tube 5, and a docking female head 51 connected to the tube 5 is installed at the other end of the tube 5. A docking male head 11 connected to the interior of the hull 1 is also provided on the hull 1. By moving the hull 1 to the vicinity of the floating unit 4, the MDOF moving unit 2 is activated, causing the docking unit 3 to clamp the tube 5. Then, the MDOF moving unit 2 drives the floating unit 4 and the tube 5 to move, and the docking female head 51 docks with the docking male head 11. Afterward, the impurities in the net 6 are pumped into the interior of the hull 1 by a pump (not shown in the figure).

[0048] Please see Figure 1 and Figure 2 The multi-degree-of-freedom moving unit 2 can be a rectangular coordinate type three-dimensional moving mechanism, which can realize linear motion in three orthogonal directions of space X, Y and Z. It has a simple structure and can easily guarantee accuracy. Of course, the multi-degree-of-freedom moving unit 2 is not limited to the rectangular coordinate type three-dimensional moving mechanism, but can also be a parallel type three-dimensional moving mechanism and an articulated type three-dimensional moving mechanism, etc.

[0049] Please see Figure 3 and Figure 4 The floating unit 4 includes multiple floats 41 that float on the water surface. The floats 41 are made of high buoyancy material and are evenly distributed on both sides of the tube body 5. The tube body 5 is provided with a mounting frame 42, and the floats 41 are fixed on the mounting frame 42. Under the action of the floats 41, the tube body 5 can float on the water surface.

[0050] In the first embodiment, the pipe body 5 and the mounting frame 42 are fixedly connected by bolts or welding, so that the mounting frame 42 and the pipe body 5 are rigidly set, thereby enabling the float 41 to drive the pipe body 5 to float on the water surface through the mounting frame 42.

[0051] The tube body 5 is designed in a Z-shape, with the docking head 51 located at the upper end of the tube body 5 and the net bag 6 located at the lower end of the tube body 5, which can effectively prevent marine organisms from attaching to the docking head 51.

[0052] Please see Figure 6 A groove 12 is provided at the bow of the hull 1. A multi-degree-of-freedom moving unit 2 is installed above the groove 12. A male connector 11 is installed on the side of the groove 12 near the cabin. A clamping assembly 13 is provided on the hull 1. The clamping assembly 13 includes telescopic members 131 installed on both sides of the bow. The telescopic ends of the telescopic members 131 penetrate into the interior of the groove 12 and are fixedly connected to clamping plates 132. By moving the hull 1, the floating unit 4 is positioned inside the groove 12. Then, the clamping assembly 13 is driven to fix the floating unit 4 with the two clamping plates 132.

[0053] To determine whether the floating unit 4 has moved into the interior of the groove 12, a first sensor (not shown in the figure) is installed on the multi-degree-of-freedom moving unit 2. The first sensor is a visual sensor, specifically a high-definition camera. The camera can determine whether the floating unit 4 has moved into the interior of the groove 12 by taking a picture. When the floating unit 4 moves into the interior of the groove 12, the clamping assembly 13 is activated to fix the floating unit 4. Of course, the first sensor can also be an infrared camera or a lidar, which can be used to deal with interference such as fog, strong light, water surface reflection, and oil pollution at sea.

[0054] Please see Figure 2The docking unit 3 includes a mounting base 31 rotatably mounted on the multi-degree-of-freedom moving unit 2. The mounting base 31 has multiple positioning posts 32; in this embodiment, two positioning posts 32 are used, and they are symmetrically arranged about the mounting base 31 as an axis. The mounting frame 42 has positioning holes 34 that mate with the positioning posts 32. An electromagnetic chuck 33 is positioned above the positioning posts 32. A second sensor 35, a visual sensor specifically a high-definition camera, is also mounted on the mounting base 31. After the clamping assembly 13 fixes the floating unit 4... The second sensor 35 captures the specific position of the positioning hole 34. The multi-degree-of-freedom moving unit 2 moves the positioning column 32 on the mounting base 31 and inserts the positioning column 32 into the positioning hole 34. Then, the electromagnetic chuck 33 is energized, so that the mounting bracket 42 is firmly attached to the electromagnetic chuck 33, thereby achieving the purpose of clamping the floating body unit 4. After clamping is completed, the clamping component 13 is released from clamping the floating body unit 4, so that the multi-degree-of-freedom moving unit 2 moves the tube 5 through the floating body unit 4 and connects the docking female head 51 on the tube 5 with the docking male head 11 on the hull 1.

[0055] Please see Figure 6 The docking end of the male connector 11 has an outer conical structure, and the docking end of the female connector 51 has an inner conical structure. An airbag 111 is provided on the male connector 11. The outer and inner conical structures form a correction system, which can effectively absorb and compensate for the position and angle deviation caused by waves and water flow at the moment of docking, so that the system can still work reliably in complex sea conditions. After docking, the locking airbag 111 of the male and female connectors expands to seal the tube body 5. Then, the impurities in the water are sucked out. After the suction operation is completed, the female connector 51 is detached from the male connector 11.

[0056] Please see Figures 4-7 Since the male connector 11 is inserted into the interior of the female connector 51 during docking, when the female connector 51 detaches from the male connector 11, there is still some debris such as seaweed and marine organisms inside the female connector 51. Over time, this marine debris will adhere to the inner wall and inner cone surface of the female connector 51. When the next suction operation is carried out, this debris will cause the male connector 11 and the female connector 51 to not seal properly. Therefore, a flipping structure 7 is provided on the float unit 4. The flipping structure 7 can bring the female connector 51 close to the sea surface and wash the female connector 51 by the waves and dynamic water flow on the sea surface.

[0057] In the second embodiment, the tube 5 is connected to the float unit 4 through the flip structure 7, so that the tube 4 remains in the flip state in its natural state.

[0058] The flip structure 7 includes a fixing member 71 detachably mounted on the tube body 5. The fixing member 71 can be a clamp, fixed to the lower corner of the tube body 5 by screws. Torsion plates 72 are fixedly connected to both sides of the fixing member 71. The torsion plates 72 extend away from the tube body 5 and have a twisted structure, spirally twisted along their length. Slide cylinders 73 located on both sides of the tube body 5 are mounted on the mounting bracket 42. The slide cylinders 73 are fixed to the mounting bracket 42 by fixing plates 74. A torsion groove 731 is formed inside the slide cylinder 73. The pitch of the torsion groove 731 is the same as the pitch of the torsion plate 72, allowing the torsion plate 72 to slide within the torsion groove 731 for fixation. An elastic element 75 is provided between the plate 74 and the fixing member 71. The elastic element 75 is a compression spring that pushes the fixing plate 74 away from the fixing member 71. When the fixing plate 74 approaches the fixing member 71, under the action of the torsion plate 72 and the torsion groove 731, the fixing member 71 can be rotated around the torsion axis of the torsion plate 72, thereby causing the tube 5 fixed on the fixing member 71 to rotate. The tube 5 is kept in the rotated state by the elastic element 75, so that the first end of the docking head 51 is closer to the sea surface. This makes it easier for the waves and dynamic water flow on the sea surface to wash away the marine debris adhering to the docking head 51, and avoids the problem of poor sealing caused by impurities adhering to the docking head 51.

[0059] Please participate Figure 7 Although the special Z-shaped design of the tube 5 can prevent impurities in the net bag 6 from clogging, as impurities in the net bag 6 continue to increase and are also subjected to the impact of waves, impurities may still be squeezed out of the tube 5, causing leakage. Therefore, after the tube 5 is flipped, the end of the tube 5 near the net bag 6 can be raised, forming an arch between the tube 5 and the net bag 6. At the same time, the angle between one end of the tube 5 and the net bag 6 is reduced, which also reduces the flow area of ​​the tube 5, making it less likely for impurities accumulated in the net bag 6 to leak through the tube 5.

[0060] Please see Figure 4 The mounting bracket 42 consists of two frames 421, which are located on both sides of the tube body 5. A sliding rod 422 is provided between the two frames 421, allowing the two frames 421 to slide on the sliding rod 422, so that the two frames 421 can move closer to or further away from the tube body 5. Limiting blocks 423 are provided at both ends of the sliding rod 422, which can be used to limit the distance between the frame 421 and the tube body 5, so that when the frame 421 is at its farthest distance from the tube body 5, the torsion plate 72 is still located inside the torsion groove 731.

[0061] The clamping assembly 13 pushes the two frames 421 closer together and compresses the elastic element 75. At this time, under the action of the torsion plate 72 and the torsion groove 731, the tube body 5 is flipped, so that the docking female head 51 on the tube body 5 is lifted from the water surface and its axis is parallel to the water surface. At this time, the slide cylinder 73 abuts against the fixing element 71, and the distance between the two positioning holes 34 is just equal to the distance between the two positioning pins 32, so that the positioning pins 32 can be inserted into the interior of the positioning holes 34. When the clamping assembly 13 is released, the thrust provided by the elastic element 75 increases the friction between the positioning pins 32 and the positioning holes 34, thereby preventing the positioning pins 32 from falling off the positioning holes 34. This can avoid the problem that the mounting bracket 42 may fall off due to power failure or magnetic attenuation.

[0062] Please see Figure 3 and Figure 6 A V-shaped plate 8 is provided on the side of the two frames 421 that are far apart from each other. The opening of the V-shaped plate 8 faces the clamping assembly 13. The cross-section of the clamping plate 132 is trapezoidal, and the inclined surface is parallel to the inclined surface of the V-shaped plate 8. When the clamping plate 132 clamps the two frames 421, the V-shaped plate 8 can be used to position the frames 421 in the horizontal direction, thereby avoiding the problem that the positioning holes 34 on the frames 421 are tilted, making it difficult for the positioning pins 32 to be inserted into the positioning holes 34. A counterweight 424 is provided below the frames 421. The counterweight 424 is located below the sea surface to improve the stability of the frames 421 and prevent the frames 421 from shaking violently due to waves, which would cause excessive deviation when the clamping assembly 13 clamps them.

[0063] Working principle: This docking device for active capture of floating pipes on the water surface belongs to the field of nuclear power plant cold source interception net garbage cleaning technology. The core consists of hull 1, floating body unit 4, multi-degree-of-freedom moving unit 2, docking unit 3, clamping assembly 13 and dual sensors. The pipe body 5 adopts a Z-shaped design. The docking male head 11 has an outer conical structure and the docking female head 51 has an inner conical structure. With the airbag 111 sealing and flipping structure 7, efficient and stable docking is achieved. During operation, the hull 1 is first advanced to the floating unit 4. Once the floating unit 4 enters the bow groove 12, the first sensor triggers the telescopic component 131 of the clamping assembly 13 to drive the clamping plate 132 to lock the floating unit 4, forming a relatively static rigid connection. At the same time, the tube 5 is rotated and the docking head 51 is lifted. The V-shaped plate 8 and the trapezoidal clamping plate 132 ensure the perpendicularity of the positioning hole 34 on the mounting frame 42. Subsequently, the multi-degree-of-freedom moving unit 2 automatically calibrates its attitude. The second sensor 35 guides the positioning post 32 of the docking unit 3 to be inserted into the positioning hole 34 and adsorbed by the electromagnetic chuck 33. The floating unit 4 is pulled to drive the tube 5 to complete the conical docking. After the airbag 111 is inflated and sealed, the hull 1 sucks out the impurities inside the net bag 6 through the docking channel. After the suction is completed, the docking head 11 and the docking head 51 are disconnected. The elastic component 75 drives the docking head 51 close to the sea surface to achieve self-cleaning. This device can automatically compensate for bilateral dynamic disturbances caused by waves and water flow without manual assistance. It can significantly improve docking efficiency and accuracy, avoid interface damage and leakage, eliminate the safety risk of falling into the water, and operate stably in complex sea conditions. The elastic element 75 and magnetic structure prevent detachment, reduce impurity leakage, and extend the service life of the device.

[0064] A docking method for active capture of floating pipe bodies on the water surface includes the following steps:

[0065] S1. Drive the hull 1 into the floating unit 4 and make the floating unit 4 enter the groove 12 of the hull 1.

[0066] S2. Start the clamping assembly 13 to clamp the floating unit 4, so that the two frames 421 are close to each other, and the tube 5 slides along the torsion groove 731 with the torsion plate 72 to achieve flipping, and lift the docking head 51 from the water surface.

[0067] S3, V-shaped plate 8 and clamping plate 132 position the frame 421 in the horizontal direction to ensure the verticality of the positioning hole 34;

[0068] S4. The multi-degree-of-freedom moving unit 2 controls the docking unit 3 to insert the positioning pin 32 into the positioning hole 34, and then cancels the clamping assembly 13 from clamping the floating unit 4.

[0069] S5. The multi-degree-of-freedom moving unit 2 drives the tube body 5 to move through the floating body unit 4, so that the docking female head 51 and the docking male head 11 can dock.

[0070] S6. The male connector 11 and the female connector 51 are locked together, and then the airbag 111 is inflated to seal the male connector 11 and the female connector 51.

[0071] S7. The hull 1 sucks up the impurities inside the net bag 6.

[0072] S8. After suction is completed, clamping assembly 13 re-clamps floating body unit 4, disconnects docking male head 11 and docking female head 51, and pulls out positioning pin 32 on docking unit 3 from positioning hole 34. Then clamping assembly 13 releases floating body unit 4, and under the action of elastic element 75, docking female head 51 is brought close to the sea surface again.

Claims

1. A docking device for active capture of a water surface floating pipe body, comprising: The hull (1) and the floating body unit (4) both float on the water surface. A male connector (11) is provided at the bow of the hull (1). The hull (1) is characterized by further comprising: A multi-degree-of-freedom movement unit (2) is installed at the bow of the hull (1); The docking unit (3) is installed on the multi-degree-of-freedom moving unit (2) and is used to grab the floating body unit (4). At the same time, the multi-degree-of-freedom moving unit (2) can control the docking unit (3) to move in multiple degrees of freedom. The tube (5) is installed on the floating unit (4). One end of the tube (5) is connected to a female connector (51) that mates with the male connector (11), and the other end is connected to a net (6). The clamping assembly (13) is located below the multi-degree-of-freedom moving unit (2) on the hull (1) and is used to position the floating body unit (4). Once the floating body unit (4) is positioned, the docking unit (3) can grab the floating body unit (4). The first sensor is installed on the multi-degree-of-freedom moving unit (2) and is used to identify and locate the floating body unit (4); The tube body (5) is provided with a fixing member (71), and a torsion plate (72) is fixedly connected to both sides of the fixing member (71). The float unit (4) is provided with a sliding cylinder (73) located on both sides of the tube body (5). The sliding cylinder (73) is fixed to the float unit (4) by a fixing plate (74). A torsion groove (731) is opened in the sliding cylinder (73). The torsion plate (72) can slide inside the torsion groove (731). An elastic member (75) is provided between the fixing plate (74) and the fixing member (71) to keep them apart. The floating unit (4) includes multiple floats (41) evenly distributed on both sides of the tube body (5). The floats (41) are provided with mounting frames (42). The mounting frames (42) are connected to the tube body (5) through fixing plates (74), fixing parts (71) and torsion plates (72). The mounting bracket (42) consists of two frames (421), which are located on both sides of the tube body (5). A sliding rod (422) is provided between the two frames (421), and the frame (421) can slide on the sliding rod (422). Limiting blocks (423) for limiting the sliding of the frame (421) are provided at both ends of the sliding rod (422). The tube body (5) is Z-shaped, with the female connector (51) located at the upper end of the tube body (5) and the net bag (6) located at the lower end of the tube body (5).

2. A docking device for active capture of a floating pipe body on a water surface according to claim 1, characterized in that: The bow of the hull (1) is provided with a groove (12), and the clamping assembly (13) includes telescopic members (131) installed on both sides of the bow. The telescopic end of the telescopic member (131) extends into the interior of the groove (12) and is fixedly connected to a clamping plate (132).

3. The docking device for active capture of floating pipe bodies on the water surface according to claim 2, characterized in that: The docking unit (3) includes a mounting base (31) rotatably mounted on the multi-degree-of-freedom moving unit (2). The mounting base (31) is provided with multiple positioning posts (32). The mounting frame (42) is provided with positioning holes (34) that cooperate with the positioning posts (32). An electromagnetic chuck (33) capable of adsorbing the mounting frame (42) is provided above the positioning posts (32). A second sensor (35) is provided on the mounting base (31) for identifying and positioning the positioning holes (34).

4. The docking device for active capture of floating pipe bodies on the water surface according to claim 3, characterized in that: The male connector (11) has an outer conical structure at the docking end, and the female connector (51) has an inner conical structure at the docking end. An airbag (111) is provided on the male connector (11).

5. A docking device for active capture of floating pipe bodies on the water surface according to claim 4, characterized in that: A V-shaped plate (8) is provided on the side of the frame (421) that is far apart from each other, and the opening direction is towards the clamping assembly (13). The cross-section of the clamping plate (132) is trapezoidal, and the inclined surface is parallel to the inclined surface of the V-shaped plate (8). A counterweight (424) is provided below the frame (421).

6. A docking method for active capture of floating pipe bodies on the water surface, characterized in that: The docking device for active capture of floating pipe bodies on the water surface as described in claim 5 includes the following steps: S1. Drive the hull (1) into the floating unit (4) and make the floating unit (4) enter the groove (12) of the hull (1); S2. Start the clamping assembly (13) to clamp the floating unit (4), so that the two frames (421) move closer to each other, the tube (5) flips over, and the docking head (51) is lifted from the water surface; S3, V-shaped plate (8) and clamping plate (132) position the frame (421) in the horizontal direction to ensure the verticality of the positioning hole (34); S4. The multi-degree-of-freedom moving unit (2) controls the docking unit (3) to insert the positioning pin (32) into the positioning hole (34), and then cancels the clamping assembly (13) from clamping the floating unit (4); S5. The multi-degree-of-freedom moving unit (2) drives the tube body (5) to move through the floating body unit (4), so that the docking female head (51) and the docking male head (11) can dock together. S6. The male connector (11) and the female connector (51) are locked together, and then the airbag (111) is inflated to seal the male connector (11) and the female connector (51). S7. The hull (1) sucks up the impurities inside the net (6); S8. After suction is completed, the clamping assembly (13) re-clamps the float unit (4), disconnects the male connector (11) and the female connector (51), and pulls the positioning pin (32) on the docking unit (3) out of the positioning hole (34). Then the clamping assembly (13) releases the float unit (4), and under the action of the elastic element (75), the female connector (51) is brought closer to the sea surface again.

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