摘要 改革开放以来，中国的渔业经济进入一个发展的新阶段，渔业产值达到了世界前 列。然而，当前的渔业生产方式主要为传统渔业的粗放型生产方式，随着渔业资源不 断枯竭，生态环境日益遭到破坏。将现代科技和先进设施装备应用渔业养殖，发展健 康、可持续的现代渔业势在必行。水面无人艇是一种优势突出的小型水面平台，具有 高可靠性、实用性、经济性等诸多优点，在水面无人艇上搭载不同的模块将可实现不 同的目标功能，具有高适应性，用于渔业养殖能充分发挥其优势。将水面无人艇作为 平台，搭载各种先进的传感器、自动化渔业养殖服务模块，可实现水面无人艇与渔业 养殖的有机结合，实现对目标水域的实时监控，并进行自主化的水产养殖辅助工作， 解放人力，带来更高经济效益。

本文选择了一艘小水线面双体无人艇作为平台，在艇体中安装了基于STM32的嵌 入式核心控制器，以核心控制器为基础，自主设计了抛食系统、除水草系统、水样采 集系统和基于互联网的渔业养殖水域的综合监测系统，通过2。4G无线模块，可实现将 实时监测数据回传岸机，岸上实验人员可作出反应，对无人艇进行相应的运动控制和 功能系统工作控制，及时反馈。95194

本文主要内容有： 1、目标试验艇模的选型、设计、制作、动力系统安装和控制系统安装过程；

2、渔业养殖服务功能系统的设计、制作和安装过程；

3、对无人艇进行的性能试验以及渔业养殖服务功能系统的综合功能初步试验。

毕业论文关键词： 水面无人艇、渔业养殖服务、功能系统、模型试验

Abstract Since the reform and opening up, China's fishery economy has entered a new stage of development。 Fishery output reached the forefront of the world。 However, the current fishery production mode is mainly for the traditional fishery extensive production mode。 With the fishery resources continue to dry up, the ecological environment is increasingly destroyed。 It is imperative to modernize modern science and technology and advanced facilities to foster aquaculture and develop healthy and sustainable modern fisheries。 The unmanned surface vessel is a kind of small, well-characterized platform。 It has high reliability, practicability and economy。 Equipped with different modules, the unmanned surface vessel will be able to achieve different target functions with high adaptability。 For fisheries farming can give full play to its advantages。 Using the unmanned surface vessel as a platform, equipping it with a variety of advanced sensors, automated  fisheries breeding auxiliary modules, we can achieve the target of combining the unmanned surface vehicle and fishery farming organically。 It can achieve the target waters Real-time monitoring, and automated aquaculture support work。 Meanwhile, the labor force will be liberated and higher economic benefits will be achieved。

In this paper, an unmanned semi-submerged catamaran is chosen as a platform, and an embedded core controller based on STM32 is installed in the hull。 Based on the core controller, the feeding system, the removal of the aquatic system, the water sample collection system and the monitoring system for fishery aquaculture waters based on Internet were independently designed。 Through the 2。4G wireless module, real-time monitoring data can be achieved through the shore machine。 Shore laborers can react to carry out the corresponding motion control and functional system work control。

The main contents of this paper are:

1。 The process of model selection, design, production, power system installation and control system installation of the target testing unmanned surface vessel;

2。