Design of an Intelligent Water Surface Cleaning System for Small- and Medium-Sized Water Bodies

Abstract

To address the limitations of conventional floating waste removal methods, including high labor intensity, elevated operational risk, and insufficient adaptability to small- and medium-sized water bodies, this study proposes an intelligent water surface cleaning system for such environments. The system employs the STM32F407 as the core control unit and integrates vision, attitude, ultrasonic, and turbidity sensors to establish functional modules for environmental perception, target recognition, obstacle detection, and water quality monitoring. In the software design, a collaborative architecture between the host computer and the lower-level controller is adopted, together with a front-end/back-end separation framework, to support data transmission, status visualization, historical record management, and basic interactive functions. This scheme provides a system-level implementation path for floating waste identification, obstacle avoidance, and cleaning tasks, and may serve as a reference for the development of cleaning equipment for small- and medium-sized water bodies, thereby contributing to the maintenance of aquatic surface ecology.