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three moments (mean, variance, and skewness) of the turbidity, allowing for real-time monitoring as the robot
color channels. These moments were used to classify cleans. A wireless communication unit can transmit
and filter regions based on their color characteristics. this data to a user interface, such as a Smartphone app,
These color pixels are derived from the image sensor enabling users to monitor water quality remotely and
and represent the primary parameters for color filtering. receive alerts when parameters deviate from acceptable
In general, the color of an object remains unchanged ranges. In addition, the integration of a microcontroller
unless exposed to strong lighting conditions. can process the sensor data to generate automated
The integration of Wi-Fi and wireless communication reports, tracking water quality trends over time. The
units in swimming pool cleaning robots significantly robot can also optimize its cleaning paths based on
enhances their functionality and user experience. sensor data, spending more time in areas that require
These technologies allow users to remotely control and additional attention. User interaction features allow for
monitor the robot through a smartphone app, providing personalized maintenance strategies, enabling users to
real-time feedback on performance, battery status, set desired water quality parameters and adjust cleaning
and maintenance needs. In addition, the wireless units schedules accordingly. Overall, this integration
facilitate the robot’s connection to smart home systems, transforms the robot from a mere cleaning device
enabling voice control and automation as part of a into an intelligent water quality management system,
broader home ecosystem. Enhanced navigation features promoting healthier swimming conditions and making
supported by WiFi allow for efficient mapping of the pool maintenance more efficient.
pool area, optimizing cleaning paths and algorithms. The water surface cleaning system is equipped with
Moreover, WiFi connectivity enables over-the-air two direct current and brushless direct current motor
software updates, ensuring that the robot benefits gear motors and salvage nets designed for collecting
from the latest features and improvements. Overall, floating debris. The salvage net can be raised and
these advancements lead to greater convenience and lowered using bobbins, while the motors are controlled
efficiency in pool maintenance, making modern cleaning by a motor-driving module interfaced with an Arduino
robots more user-friendly and effective in maintaining microcontroller. A vision sensor detects floating waste,
swimming pool cleanliness. specifically identifying objects as trash. This sensor is
For assessing water quality in a swimming pool, mounted on the front of the cleaning device, which
various methods can be employed to monitor key employs an effective water surface cleaning algorithm
parameters such as pH levels, chlorine concentration, to automatically track and collect waste. The device
and alkalinity. One common approach is using chemical captures images in a coordinate system defined
testing kits, which involve reagents that react with by ranges X (0-319) and Y (0-199). The direction
the pool water to produce colorimetric results. Users of movement is determined by the X coordinates,
can also opt for digital testers that provide precise allowing the robot to turn in various directions based
measurements for various water quality indicators. For on detected waste.
consistent monitoring, automated water quality systems The control system of the USV consists of two
can be installed to measure and transmit data in real time, Arduino microcontrollers operating at 16 MHz; one
alerting owners when parameters fall outside acceptable manages steering and obstacle avoidance, whereas the
ranges. In addition, regular visual inspections can help other handles navigation. The USV includes various
assess clarity, while laboratory testing offers a more modules directly connected to the control unit, including
comprehensive analysis of contaminants. Maintaining motion and water waste scrubbing modules. A GPS
water quality involves consistent testing and regular module is integrated for navigation, providing real-
maintenance, which includes balancing chemicals and time coordinates for water sampling points. The USV
cleaning the pool. Resources such as the Centers for is also equipped with ultrasonic sensors for obstacle
Disease Control and Prevention and Swim Art provide detection, employing a threshold-based algorithm for
detailed guidance on the best practices for ensuring safe collision avoidance. The vehicle uses a 6V battery and
and clean swimming pool water. communicates with a remote human-machine interface
Equipping a swimming pool cleaning robot with via Bluetooth, allowing for the monitoring and control
a water quality monitoring function significantly of its functions. This interface displays critical data
enhances its functionality and efficiency. This can such as trip time and movement trajectory, facilitating
be achieved by integrating sensors into the robot to real-time updates and manual control options for the
measure key parameters such as pH, chlorine levels, and operator.

Volume 22 Issue 2 (2025) 26 doi: 10.36922/ajwep.6564