| With the continuous improvement of residents’ living standards,the demand for aquatic products among the public is increasing.At the same time,China’s export trade of aquatic products has developed rapidly,and aquatic products have already occupied an important export position in the foreign trade of agricultural products.However,the aquaculture methods currently used in China are relatively extensive,mainly manual feeding,and have low production efficiency.Moreover,the lack of relevant professional knowledge among practitioners has led to the destruction of the ecological environment in aquaculture waters.Therefore,it is particularly important to develop a device that can improve the productivity and intelligence level of aquaculture labor.In recent years,unmanned surface vehicle widely used in the civilian field have been able to complete corresponding tasks autonomously or semi autonomously according to established procedures.Based on this,this thesis combines aquaculture with unmanned surface vehicle and designs a control system for aquaculture unmanned surface vehicle.The main research content is as follows:Firstly,based on existing research at home and abroad,a functional and non functional requirement analysis was conducted on the control system.Based on the analysis results,an overall framework of the system was constructed from three aspects: perception layer,network layer,and application layer.Relevant technical theories were introduced,and the overall system scheme was designed with STM32 microcontroller,Raspberry Pi 4B,and Alibaba cloud server as the main components.Secondly,the hardware of the control system was designed.The STM32F103ZET6 microcontroller and Raspberry Pi 4B are selected as the controller modules of the unmanned surface vehicle,and the two controllers communicate with each other through serial ports.The STM32 microcontroller is connected to corresponding sensors to obtain water temperature,p H value,turbidity data,ultrasonic ranging information,and unmanned surface vehicle position information.These data are summarized and sent to Raspberry Pi4 B through a serial port,and upper computer software instructions are obtained from Raspberry Pi 4B.The motor rotation is controlled through PID algorithm to control the unmanned surface vehicle to complete feed feeding at the target point.Raspberry Pi 4B connects the camera to obtain image data and processes it.The collected data is sent to the upper computer software through the 4G communication module,and at the same time,it receives instructions from the upper computer software and passes the corresponding instructions to the STM32 microcontroller.Choose Alibaba cloud server to deploy upper computer software for processing various data information and sending corresponding control instructions.Then,the control system software was designed.Designed STM32 microcontroller program based on MDK development environment,including water quality data collection program and motor control program;Designed a Raspberry Pi 4B program using the Python tool library,including image data acquisition and data transmission programs;Based on the Dot NET Framework,an upper computer software was developed to display the collected data in real time and provide water quality alerts for areas exceeding the threshold.According to the set target points,unmanned surface vehicle was controlled to complete feed feeding work.At the same time,some data were saved to My SQL database and a query interface was provided for easy viewing by breeding personnel.Finally,a hardware platform for the unmanned surface vehicle control system was built based on the software and hardware design.After multiple experiments,the final results show that the designed aquaculture unmanned surface vehicle control system can complete functions such as autonomous feeding,manual control,water quality data display,information data query,etc.The system has good feasibility and stability,and can basically meet the relevant needs in aquaculture,in line with the expected design. |
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