Autonomous Water Quality Monitoring and Water Surface Cleaning for Unmanned Surface Vehicle

Abstract

Water is one of the most precious resources. However, industrial development has made water pollution a critical problem today and thus water quality monitoring and surface cleaning are essential for water resource protection. In this study, we have used the sensor fusion technology as a basis to develop a multi-function unmanned surface vehicle (MF-USV) for obstacle avoidance, water-quality monitoring, and water surface cleaning. The MF-USV comprises a USV control unit, a locomotion module, a positioning module, an obstacle avoidance module, a water quality monitoring system, a water surface cleaning system, a communication module, a power module, and a remote human–machine interface. We equip the MF-USV with the following functions: (1) autonomous obstacle detection, avoidance, and navigation positioning, (2) water quality monitoring, sampling, and positioning, (3) water surface detection and cleaning, and (4) remote navigation control and real-time information display. The experimental results verified that when the floating garbage located in the visual angle ranged from −30° to 30° on the front of the MF-USV and the distances between the floating garbage and the MF-USV were 40 and 70 cm, the success rates of floating garbage detection are all 100%. When the distance between the floating garbage and the MF-USV was 130 cm and the floating garbage was located on the left side (15°~30°), left front side (0°~15°), front side (0°), right front side (0°~15°), and the right side (15°~30°), the success rates of the floating garbage collection were 70%, 92%, 95%, 95%, and 75%, respectively. Finally, the experimental results also verified that the applications of the MF-USV and relevant algorithms to obstacle avoidance, water quality monitoring, and water surface cleaning were effective.

Sub-Liquid and Atmospheric Measurement Instrument To Autonomously Monitor the Biochemistry of Natural Aquatic Ecosystems

“…Some of the field sites, including saline lakes, may host salt crusty deposits on lake surface, making the floating platform’s maneuvering tricky. Several works have investigated and proposed solutions with the use of simple camera ,, or ultrasound sensors for detecting and navigating around such obstructions. Long-term deployments also impose restrictions on recalibration due to possible degradation of the sensors (higher in a corrosive saline environment).…”

Advancements in Monitoring Water Quality Based on Various Sensing Methods: A Systematic Review

“…He [ 60 ] used embedded systems such as STM32F103VET6, serial communication module, and RS485 interface circuit to detect the aquaculture water parameter in real-time such as temperature, pH value, dissolved oxygen, turbidity, and other related information. Apart from that, Chang et al [ 61 ] developed a system that used sensors to develop an unmanned surface vehicle (MF-USV) to avoid any obstacles and monitor the water quality system and water surface cleaning system. The obstacles can be any animals, plants, or things on the surface.…”

“…The MF-USV consisted of several components that acted as autonomous obstacle detection to detect pH water and water surface cleaning. It could detect and collect the floating garbage on water and perform remote navigation control and real-time information display [ 61 ]. In the system, a pH sensor was used to detect the pH of the water before being analyzed in a laboratory.…”

UAS-based real-time water quality monitoring, sampling, and visualization platform (UASWQP)

“…Autonomous underwater vehicles (AUSs) and autonomous surface vehicles (ASVs) have been also used to monitor water quality components [4] , [5] , [6] . But accurate Global Positioning System (GPS) reception is still challenging for AUS’s operation as a surfacing is required when the distance traveled by the underwater vehicles reaches a certain range [5] .…”