Robot-Based Hazard Detection for Wastewater Treatment Plants

Abstract

Wastewater treatment plants (WWTPs) are essential infrastructure for urban water management. Their stable operation is critical to effluent quality and public safety. However, wastewater treatment involves complex biochemical processes and extensive electromechanical equipment. Hazards such as sludge flotation in secondary clarifiers, fire, electric shock, and toxic gas poisoning may occur. These hazards can threaten worker safety and reduce treatment efficiency. Traditional inspection mainly relies on manual patrols, fixed-camera monitoring, and experience-based judgment. These methods often have low efficiency, limited coverage, and delayed responses. To address these limitations, this paper investigates robot-based hazard detection for WWTPs. A multisource hazard detection dataset is constructed for secondary clarifiers and confined spaces, including images collected by an inspection robot. Object detection models are then applied to identify typical hazards. Comparative experiments are conducted using Faster R-CNN and several YOLO-series models. YOLOv12 achieves mAP@0.5 values of 0.917 and 0.819 for sludge flotation detection and confined space hazard detection, respectively. It also provides a good balance between detection performance and inference efficiency. The results demonstrate that robot vision combined with object detection can support intelligent inspection in WWTPs.