A catamaran trash rack cleaning robot

Abstract

The present application relates to the technical field of water power plant pollution cleaning equipment, and discloses a double-hull ship trash rack pollution cleaning robot. The robot comprises: a first hull and a second hull arranged symmetrically; a balanced roller bridge arranged between the double hulls; a movable grab bucket assembly suspended on the balanced roller bridge; a bidirectional garbage conveyor belt arranged on the side of the hull; an intelligent control module connected with the garbage conveyor belt; and an ultrasonic detection array installed on the bottom of the hull. The grab bucket assembly comprises: a grab bucket support in sliding connection with the balanced roller bridge; a main grab arm hingedly connected with the grab bucket support; and an auxiliary claw elastically connected with the main grab arm. Through the double-hull balanced structure and the intelligent detection-grabbing-conveying cooperative mechanism, the real-time detection, accurate grabbing and automatic unloading of the trash rack pollutants are realized, and the problems of low efficiency and high risk of traditional manual pollution cleaning are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology for hydropower plants, specifically a catamaran robot system for real-time cleaning of trash racks. Background Technology

[0002] As a key facility ensuring the stable operation of hydropower turbines, trash racks at hydropower stations are increasingly plagued by rampant garbage accumulation. Their current state and potential threats have become prominent factors restricting the stable development of the hydropower industry. In terms of garbage composition, the types of garbage intercepted are diverse, including plant debris such as branches and aquatic plants, animal debris such as dead fish, and human waste such as plastic bottles and metal objects. Taking the Three Gorges Hydropower Station as an example, during one cleanup, plant debris accounted for 40%, household waste such as plastics accounted for 35%, and the remainder consisted of metal and animal carcasses. In terms of quantity, the Xiaolangdi Hydropower Station on the Yellow River intercepts hundreds of cubic meters of trash daily during flood season; in July 2023, the Yushiqiao Hydropower Station in Sichuan Province experienced irrigation disruptions due to garbage accumulation; and in August 2021, a large area of ​​floating garbage appeared in the Goupitan Hydropower Plant section of the Wujiang River, with the largest area reaching 18.274 acres. These debris significantly reduce power generation efficiency. When the trash rack is 50% blocked, head loss increases by 0.5-1 meter, turbine flow decreases by 10-15%, and the rack and turbine blades may be damaged, resulting in annual equipment maintenance losses of several million yuan. Cleaning costs also rise sharply; a medium-sized hydropower station normally incurs around 500,000 yuan annually, which can double during floods. In terms of safety, in 2021, the Goupitan Hydropower Station experienced flood control issues due to debris blockage, which could also interfere with monitoring equipment and increase operational risks. Ecologically, the debris damages the aquatic environment, causing water pollution and threatening human health and agricultural production, highlighting the urgent need for the development of efficient cleanup technologies.

[0003] With the continuous improvement of mechanization, early manual underwater cleaning methods were gradually replaced by mechanized equipment due to their low efficiency and high safety risks. At the end of the 20th century, Norway pioneered the exploration of single-boat towed cleaning equipment, initially achieving semi-mechanized operations. However, its widespread application was limited by the insufficient anti-capsulation capability of single-boat structures in fast-flowing waters. In the early 21st century, countries such as the Netherlands and Japan began experimenting with multihull designs, and the stability advantages of catamaran structures gradually gained attention, laying the hull design foundation for subsequent robotic cleaning operations.

[0004] In recent years, the Interceptor series from The Ocean Cleanup in the Netherlands has been a landmark in international research. Launched in 2019, their catamaran river interceptor uses floating barriers to guide debris into a conveyor belt. Powered by solar energy, it achieves autonomous collection with a maximum daily processing capacity of 50,000 kg. It has been deployed in the Mekong River in Vietnam and the Klang River in Malaysia. Its catamaran design effectively improves operational stability in low to medium current velocities. However, the system focuses more on collecting debris from surface water areas, and further optimization is needed for precise gripping and attachment to the debris barriers. While Boston Dynamics in the United States is not directly involved in the wastewater treatment field, its Spot robot's biomimetic joint technology provides a reference for the compliant design of catamaran-mounted robotic arms. Some university laboratories have developed small prototype wastewater treatment robotic arms based on this, capable of simple debris gripping, but a complete catamaran-robot collaborative system has not yet been formed.

[0005] Significant progress has been made in domestic research in recent years. The catamaran-type marine debris collection equipment developed by Professor Liu Bijin's team at Zhejiang University has been applied in waters such as Ningde and Hainan. Through a unique integrated interception and collection design, it achieves energy-free automated operation, verifying the advantages of the catamaran structure in terms of load-bearing capacity and stability. However, its target is large areas of dispersed debris, and precise cleaning of narrow areas of trash racks still requires improvement in sensing and execution modules. Cangchao Technology's USV-2500 catamaran surface platform demonstrates the potential of modular design. Its frame structure can accommodate different cleaning tools and is suitable for multiple operating scenarios. However, the dedicated end effector and grid-fitting mechanism for trash racks still need improvement. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a catamaran trash rack cleaning robot. By improving operational stability through the collaborative structure of the catamaran, and combining intelligent detection with integrated cleaning design, it solves the problems of downtime caused by trash accumulation, high risks of manual cleaning, and weak resistance to current in a single-ship system.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a catamaran trash rack cleaning robot, comprising a catamaran body, a balancing connection mechanism, a cleaning execution component, a conveying system, and an intelligent control system.

[0008] The catamaran hull serves as a working platform and provides buoyancy support. It consists of a first hull and a second hull arranged symmetrically. The single hull is 1.5 meters wide, the catamaran is 1.5 meters apart, the total width is 4.5 meters, and the total length is 7.1 meters (excluding the 6.5-meter conveyor belt). The total buoyancy (including its own weight) is greater than 18 tons. Flexible roller arms are installed at the bottom of the hull, which move along the direction of the trash rack. The bow and stern are equipped with a power plant-side propeller and a trash rack-side propeller, respectively, to provide bidirectional driving force to balance the impact of water flow.

[0009] The balancing connection mechanism is used to achieve stable connection and cross-ship operation of the catamaran. It includes a balancing roller bridge, which is rigidly connected to the first hull and the second hull at both ends. The bridge truss is equipped with a slide rail, on which a sliding movable seat is installed. The cleaning and cleaning execution component is suspended below the movable seat. Windproof plates with a height of 1.5 meters and a length of 6.5 meters are provided on both sides of the balancing roller bridge to block the wind from affecting the lightweight waste.

[0010] The cleaning and cleaning execution component is used to complete the grabbing of dirt, including a grab bucket, which consists of a main grab arm and an auxiliary grab, with a width of 0.7 meters and can grab dirt 1.5-2.5 meters long; the top of the grab bucket is hinged to the moving seat and opened and closed by a hydraulic rod; a dirt baffle plate with a height of 0.8 meters is installed on the outside of the grab bucket to prevent dirt from scattering during the grabbing process.

[0011] The conveying system is used to transfer waste to the shore and includes bidirectional garbage conveyor belts installed on both sides of the catamaran hull. The conveyor belts are arranged along the length of the hull, with the input end connected to the grab bucket unloading position and the output end extending to the shore garbage collection point.

[0012] The intelligent control system is used to ensure operational stability and automated operation. It includes attitude sensors, bulkheads, water pumps, and a control module. The hull has four bulkheads. The attitude sensors detect the hull tilt angle in real time. The control module drives the water pumps to adjust the water level in each compartment based on a fuzzy algorithm to ensure the hull balance under Force 5 winds. An ultrasonic detection array is installed at the front of the hull, which can realize a closed-loop operation of "detecting, cleaning, and verifying simultaneously".

[0013] As a further technical solution of the present invention, the flexible roller arm is made of elastic rubber material with a wheel diameter of 150mm and is evenly distributed along the bottom of the hull. The contact pressure with the surface of the trash rack can be adaptively adjusted by the spring mechanism to ensure that the rack is not damaged when traveling in close contact.

[0014] As a further technical solution of the present invention, the ultrasonic detection array consists of 8 ultrasonic sensors, which are installed in two rows at the bow of the ship. The front row detects the location and size of the dirt, and the rear row verifies the cleaning effect. The detection accuracy is ±5cm, and the data is transmitted to the control module in real time to adjust the grab bucket operation path.

[0015] The advantages of this design are: firstly, the dual-ship balance structure avoids the risk of single-ship capsizing and enhances wind resistance; secondly, the grab bucket and conveyor belt work together to achieve real-time cleaning and unloading of waste, reducing secondary pollution; and thirdly, the intelligent control system reduces manual intervention and improves safety and economy. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating the operation of the catamaran cleaning robot of the present invention.

[0017] Figure 2 This is a schematic diagram of the main structure of the catamaran cleaning robot of the present invention;

[0018] Figure 3 This is a top view of the catamaran cleaning robot of the present invention;

[0019] Figure 4 This is a left view of the catamaran cleaning robot of the present invention;

[0020] Figure 5 This is a front view of the catamaran cleaning robot of the present invention;

[0021] Figure 6 This is a schematic diagram of the structure of the second hull body of the present invention;

[0022] Figure 7 This is a schematic diagram of the main structure of the grab bucket assembly of the present invention;

[0023] In the diagram: 1. Main body of the catamaran; 101. First hull; 102. Second hull; 2. Balance roller bridge; 3. Grab bucket; 301. Main grab arm; 302. Auxiliary grab; 4. Two-way waste conveyor belt; 5. Power plant side propeller; 6. Trash rack side propeller; 7. Flexible roller arm; 8. Ultrasonic detection array; 9. Windbreak plate; 10. Trash baffle plate. Detailed Implementation

[0024] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0025] like Figure 2 , Figure 3 As shown in the figure, the catamaran hull 1 consists of a first hull 101 and a second hull 102 symmetrically arranged, located on either side of the trash rack on the water surface. Each hull is 1.5 meters wide, the distance between the two hulls is 1.5 meters, the total width is 4.5 meters, and the total length is 7.1 meters (excluding the 6.5-meter conveyor belt). The overall buoyancy is greater than 18 tons to ensure stability when carrying debris. Flexible roller arms 7 installed at the bottom of the hull are made of elastic rubber, closely conforming to the surface of the trash rack during movement, ensuring stable movement along the rack direction while avoiding damage to the rack structure. The first hull 101 and the second hull 102 are respectively equipped with a power plant-side propeller 5 and a trash rack-side propeller 6, providing bidirectional power along the trash rack direction to balance the water flow impact and maintain the hull's position.

[0026] like Figure 2 , Figure 4 , Figure 5The two hulls are rigidly connected by a balance roller bridge 2. A sliding rail structure is provided on the bridge truss, and the grab bucket assembly 3 is suspended on the sliding rail, allowing for flexible movement between the two vessels via a drive device (e.g., Figure 6 As shown, the main grab arm 301 of the grab bucket assembly 3 is responsible for the main grabbing action, while the auxiliary grab 302 is used to stabilize long and thin debris. The grab bucket is 0.7 meters wide and can accommodate debris with a length range of 1.5 to 2.5 meters. During the grabbing process, the windproof plates 9 (1.5 meters high) on both sides of the balance roller bridge 2 and the dirt baffle 10 (0.8 meters high) on the outside of the grab bucket work together to prevent lightweight waste from being blown away by the wind and causing secondary pollution.

[0027] like Figure 3 , Figure 5 and Figure 6 As shown, the catamaran hull 1 has four bulkhead compartments, each equipped with a water pump and attitude sensor. When the attitude sensor detects that the hull is tilting in a Force 5 wind, the intelligent control system uses a fuzzy algorithm to drive the water pumps to adjust the water level in each bulkhead compartment, thereby adjusting the hull's center of gravity in real time to maintain balance. During operation, the onboard ultrasonic detection array 8 first scans the surface of the debris rack to locate the debris. Then, the grab bucket assembly 3 precisely moves to the target area to grab the debris. The grabbed debris is then transported to both sides of the hull via a bidirectional waste conveyor belt 4. Once the hull reaches the shore, the conveyor belt extends to a fixed waste collection point on the shore for unloading.

[0028] The entire operation process achieves a closed-loop operation of "detecting, cleaning, and collecting simultaneously": the ultrasonic detection array 8 detects the distribution of garbage, the grab bucket component 3 cleans it simultaneously, the bidirectional garbage conveyor belt 4 completes the collection and transfer in real time, and with the stable movement of the flexible roller arm 7 and the balance control of the partition compartment, the robot can efficiently and safely complete the task of cleaning the trash rack in a complex hydrological environment.

[0029] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A catamaran trash rack cleaning robot, comprising a catamaran body (1), characterized in that, The catamaran main body (1) includes a first hull (101) and a second hull (102) arranged symmetrically. A balance roller bridge (2) is erected between the first hull (101) and the second hull (102). A movable grab bucket assembly (3) is suspended on the balance roller bridge (2). A two-way garbage conveyor belt (4) is provided on the side of the catamaran main body (1). A stability control system is provided inside the catamaran main body (1). The stability control system includes a bulkhead compartment and a water pump. A power plant-side propeller (5) and a two-way power propeller (6) along the direction of the trash rack are provided on the underwater part of the catamaran main body (1).

2. The catamaran trash rack cleaning robot according to claim 1, characterized in that: The first hull (101) and the second hull (102) have a total length of 7.1 meters, a single hull width of 1.5 meters, a catamaran spacing of 1.5 meters, a total hull width of 4.5 meters, and a total hull buoyancy of more than 18 tons.

3. The catamaran trash rack cleaning robot according to claim 1, characterized in that: The bulkhead is located inside the cabins of the first hull (101) and the second hull (102). There are four bulkheads. The water pump is connected to an attitude sensor and adjusts the water level of the bulkhead through a fuzzy algorithm.

4. The catamaran trash rack cleaning robot according to claim 1, characterized in that: The grab bucket assembly (3) includes a main grab arm (301) and an auxiliary grab (302). The grab bucket (3) has a width of 0.7 meters, a length of 1.5 to 2.5 meters, and a depth of 0.4 meters.

5. The catamaran trash rack cleaning robot according to claim 1, characterized in that: The bottom of the catamaran hull (1) is provided with flexible roller arms (7), and there are four flexible roller arms (7) located at the front and rear of the bottom of the hull.

6. The catamaran trash rack cleaning robot according to claim 5, characterized in that: The flexible roller arm (7) is equipped with an ultrasonic detection array (8). The front array on the water inlet side is used to detect garbage, and the rear array is used to detect the cleaning effect.

7. The catamaran trash rack cleaning robot according to claim 1, characterized in that: The deck of the catamaran hull (1) is equipped with a wind deflector (9) and a dirt baffle (10). The wind deflector (9) is 1.5 meters high and 6.5 meters long, and the dirt baffle (10) is 0.8 meters high and 6.5 meters long.

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