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Autonomous Water Quality Monitoring and Water Surface Cleaning for Unmanned Surface Vehicle
| Content Provider | MDPI |
|---|---|
| Author | Chang, Hsing-Cheng Hsu, Yu-Liang Hung, San-Shan Ou, Guan-Ru Wu, Jia-Ron Hsu, Chuan |
| Copyright Year | 2021 |
| Description | 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. |
| Starting Page | 1102 |
| e-ISSN | 14248220 |
| DOI | 10.3390/s21041102 |
| Journal | Sensors |
| Issue Number | 4 |
| Volume Number | 21 |
| Language | English |
| Publisher | MDPI |
| Publisher Date | 2021-02-05 |
| Access Restriction | Open |
| Subject Keyword | Sensors Marine Engineering Remote Sensing Unmanned Surface Vehicle Navigation Obstacle Avoidance Water Quality Monitoring Water Surface Cleaning Remote Navigation Control |
| Content Type | Text |
| Resource Type | Article |
