Problem
Research questions and friction points this paper is trying to address.
water bodies
cleaning
autonomous
debris collection
low-cost
EcoBoat: Design and Experimental Validation of an Autonomous Body-Board Boat For Cleaning Water Bodies
🤖 AI Summary
本文介绍了一种低成本自主水面清洁船EcoBoat，通过超声波传感器和GPS地理围栏技术解决室内外水域漂浮垃圾收集问题。
📝 Abstract
Cleaning water bodies such as swimming pools and lakes typically demands significant manual effort or reliance on costly, sensor-intensive robotic systems. This paper presents EcoBoat, a low-cost autonomous surface vehicle built on a modified hull, designed to collect floating debris in both indoor and outdoor water bodies. For indoor environments, EcoBoat uses ultrasonic sensors to detect boundaries and obstacles, combining random-walk motion with boundary-following behavior. For outdoor environments, it relies on GPS-based geofencing paired with a random-walk strategy for area coverage. A key design feature is a Tesla-valve-inspired collection basket that allows debris intake during forward motion while preventing its escape during turning or braking. Field experiments in pools and lakes validated the design through iterative refinement, demonstrating that a minimalist sensing and computation approach can achieve effective, versatile debris collection across diverse water bodies.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Tesla-valve-inspired collection basket
minimalist sensing and computation
ultrasonic sensors for indoor navigation
GPS-based geofencing
🔎 Similar Papers
No similar papers found.
