臺灣博碩士論文加值系統

目前政府為推動地方繁榮，以智慧自動化及永續潔淨能源做為本世紀臺灣新的水產養殖產業的轉型提升，並進一步促進地方創生、文化、產銷等層面相互結合，最終達成地方永續發展的目標。因此，為因應魚電共生發展之推動，本研究擬提出一套基於水上移動載具的養殖場水下監測系統，其動態水質感測與水下可見光攝影功能可彌補養殖池定點監測水質的即時性缺失問題，它能即時將水質感測數據傳輸至伺服器平台進行儲存，並可透過行動裝置、遠端PC甚至電視牆系統提供使用者即時觀看養殖池水質狀態與水下蝦隻生長現況。本研究以Raspberry Pi 4 model B樹梅派單晶片主機作為發出操控命令的機器人上位機，ESP32-WROOM-32U作為下位機，建立一台以四組水泵馬達為動力的水上移動載具，軟體使用Raspbian系統作為Raspberry Pi OS，並通過Esp32輸出PWM控制訊號對四組馬達進行開關控制，完成直流馬達的正反轉與轉速控制功能，並透過QMC5883L電子羅盤模組計算三軸磁場變化計算方位角，與GP2Y0A02YK0F紅外線距離感測器量測自身與水池壁的距離，再結合監測iBeacon訊號衰減強弱，以達到水上移動載具的養殖池內部定位。

To assist local development, the current government uses intelligent automation and sustainable energy as Taiwan’s new aquaculture industry transformation, and promotes the integration of local culture, production and marketing, and ultimately achieves the goal of sustainable local development. In response to the development of fish-electricity symbiosis, this research hopes to propose a set of aquaculture monitoring system based on water mobile vehicles. Its dynamic water quality sensing function and underwater photography function can make up for the real-time problem of fixed-point monitoring of water quality in aquaculture ponds. You can also view the water quality status of the breeding pond and the growth status of underwater shrimps in real time through mobile devices, remote PCs and even TV wall systems.
In this research, the Raspberry Pi 4 model B tree-Meipai single-chip host is used as the upper computer of the robot to send control commands, and the ESP32-WROOM-32U is used as the lower computer to create an aquatic mobile vehicle using four sets of water pump motors. The software is used Raspberry Pi OS, and uses Esp32 to output PWM control signals to control the four sets of motors. The QMC5883L electronic compass module calculates the three-axis magnetic field changes, and uses the GP2Y0A02YK0F infrared distance sensor to measure the distance between itself and the pool wall. Finally, the signal attenuation between the iBeacon and the vehicle is measured to achieve the positioning of the water mobile vehicle.

摘要.............................I
ABSTRACT........................II
目錄............................III
表目錄...........................VI
圖目錄...........................VII
第一章、緒論......................1
1.1 研究背景與研究動機.............1
1.1.1 水產養殖技術的研究與發展趨勢..1
1.1.2 水產養殖技術的瓶頸...........6
1.2 國內外水上移動載具研究概況......9
1.2.1 無人水面載具商品化現況........9
1.2.2 專業型無人水面載具相關文獻....11
1.3 研究目的......................16
1.4 論文架構......................17
第二章、無人水面載具機構與動力開發...18
2.1 機構外觀設計..................19
2.1.1 機構外殼設計................19
2.1.2 水質感測夾持機構設計.........20
2.2 動力裝置設計..................21
2.2.1 動力源設計..................22
2.2.2 續航力規劃..................25
2.3 載具移動與路徑修正.............27
2.3.1 移動方向控制................27
2.3.2 移動路徑修正................30
 
第三章、載具數據通訊設計...........35
3.1 內部通訊傳輸控制協定...........35
3.1.1 中央控制單元規劃............36
3.1.2 下位機功能設計..............41
3.2 外部通訊傳輸協定..............45
3.2.1 水質感測參數傳輸............46
3.2.2 顯示介面與遠端控制..........49
第四章、實驗與討論................52
4.1 實驗硬體介紹與載具整合成果.....52
4.1.1 移動輔助感測模組............52
4.1.2 水質感測儀器...............53
4.1.3 載具整合成果...............56
4.2 戶外水池移動測試.............57
4.2.1 移動載具馬達電壓控制測試....57
4.2.2 水面移動控制測試...........59
4.2.3 水質感測資料上傳...........62
4.2.4 實驗過程遭遇之困難與解決....65
4.4 結論........................67
第五章、未來展望.................68
參考文獻........................69

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