自主机器人可自动识别并分析海滩微塑料，提升环境监测效率
A novel autonomous microplastics surveying robot for beach environments
- 用机械臂搭载摄像头与近红外光谱仪，实现微塑料自动探测
- 在实验室和海滩测试中均达到高精度定位与分类准确率
- 适合环保机构、科研团队用于海岸线微塑料调查
微塑料是指尺寸小于5毫米的塑料颗粒，因风力和潮汐作用在海滩上积聚，已成为普遍的环境污染问题。野外环境中对微塑料的检测与浓度制图仍是主要挑战。本文提出一种新型自主机器人平台，可自动探测并化学分析沙滩表面的微塑料。该移动操作机器人通过安装在机械臂末端的摄像头扫描区域，即使在存在落叶、蛤蜊等有机物干扰的情况下，也能有效分割出潜在微塑料颗粒。一旦发现候选颗粒，系统利用近红外（NIR）与视觉反馈，将近红外光谱传感器精准对准目标，实现实时化学分析。在实验室与海滩环境的实验中，系统表现出优异的操作定位精度和高微塑料分类准确率。
原文摘要 · Abstract (English)
Microplastics, defined as plastic particles smaller than 5 millimeters, have become a pervasive environmental contaminant that accumulates on beaches due to wind patterns and tidal forcing. Detecting microplastics and mapping their concentration in the wild remains one of the primary challenges in addressing this environmental issue. This paper introduces a novel robotic platform that automatically detects and chemically analyzes microplastics on beach surfaces. This mobile manipulator system scans areas for microplastics using a camera mounted on the robotic arm's end effector. The system effectively segments candidate microplastic particles on sand surfaces even in the presence of organic matter such as leaves and clams. Once a candidate microplastic particle is detected, the system steers a near-infrared (NIR) spectroscopic sensor onto the particle using both NIR and visual feedback to chemically analyze it in real-time. Through experiments in lab and beach environments, the system is shown to achieve an excellent positional precision in manipulation control and high microplastic classification accuracy.
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