Page 25 - AJWEP-v22i2

Asian Journal of Water, Environment and Pollution. Vol. 22, No. 2 (2025), pp. 19-31.
doi: 10.36922/ajwep.6564

ORIGINAL RESEARCH ARTICLE

Enhancing swimming pool hygiene: A robotic approach to
debris removal and water quality monitoring

Hemalatha Senthilmahesh * , Kiran Mayee Adavala ,
1
2
Thilagam Thangamariappan , Pullela S. V. V. S. R. Kumar , Ramesh Tumaati ,
4
3
5
and Muthuvairavan Pillai Nagappan 6
1 Department of Computer Science and Business Systems, Panimalar Engineering College, Poonamallee, Chennai, India
2 CSE (AI&ML), Kakatiya Institute of Technology and Science, Warangal, India
3 Department of Computer Science and Engineering, Vel Tech Rangarajan Dr. Sagunthala R&D Institute of Science and
Technology, Chennai, India
4 Department of Computer Science and Engineering, Aditya University, Surampalem, Andhra Pradesh, India
5 Department of Computer Science and Engineering, R.M.K. Engineering College, Chennai, Tamil Nadu, India
6 Department of Computer Science and Business Systems, R.M.D. Engineering College, Tiruvallur, Tamil Nadu, India
*Corresponding author: Hemalatha Senthilmahesh (csbshod@pit.ac.in)

Received: November 26, 2024; Revised: February 6, 2025; Accepted: February 19, 2025; Published online: March 26, 2025

Abstract: The World Health Organization has underscored swimming as a significant exercise for attaining health, and it
is also recognized as a competitive sport in many nations. Individuals across all age groups choose swimming as a means
to enhance their fitness levels. Maintaining the cleanliness of the swimming pool is imperative to prevent the spread of
waterborne diseases. Despite regular weekly or monthly maintenance, cleanliness is often compromised due to service
provider limitations. In the contemporary landscape, artificial intelligence technologies are progressively assuming roles
where human providers fall short. This article proposes the integration of ethical robots to augment cleaning services
both within and around swimming pools. These waterproof robots are designed to navigate within the pool environment,
efficiently collecting debris and waste into their attached receptacles. The deployment of such ethical robotics marks a
significant advancement in swimming pool maintenance, promising enhanced efficiency and hygiene standards. This
work presents the design and implementation of an autonomous swimming pool cleaning robot, integrating multiple
functional units: Power, sensor, wireless communication, motor, and water quality monitoring. After the power is on,
the robot starts calibrating its sensors and establishes a connection with a remote human-machine interface to transmit
the initial operational status. By utilizing advanced image processing algorithms, specifically color moments, the robot
identifies and classifies floating debris while continuously monitoring water quality parameters. When debris is detected,
the robot calculates its trajectory based on X and Y coordinates, adjusting its movement accordingly to collect the debris
with a salvage net. It incorporates ultrasonic sensors for obstacle detection, employing a threshold-based avoidance
algorithm to navigate around obstacles effectively. The cleaning process is repeated until the pool is cleared, after which
the robot returns to its charging station, powering down non-essential systems in preparation for the next cycle. This
study highlights the efficiency and effectiveness of robotic automation in pool maintenance, demonstrating significant
advancements in the integration of robotics, sensor technology, and real-time data communication. The findings contribute
valuable insights into future developments in robotic cleaning systems and their applications in various environments.

Keywords: Robotic pool cleaning; Autonomous maintenance; Obstacle handling; Battery optimization; Underwater
visibility; Environmental factors; IoT integration; Real-time monitoring

Volume 22 Issue 2 (2025) 19 doi: 10.36922/ajwep.6564