Construcción de un vehículo acuático de superficie para supervisión en piscinas camaroneras empleando un planificador de trayectorias por puntos.

Abstract

The project had as purpose to generate a favourable impact in the shrimp growth, where the drastic variation of parameters produces harmful effects in the specie health. The implementation of the mentioned project is based on a surface aquatic robot prototype, that served for the supervision of water quality variables within the shrimp pools. It was characterized for being an aquatic vehicle which can be moved to any planned zone expanding the data collection coverage. This, in turn, allows the supervision of variables such as: temperature, dissolved oxygen, and pH. Its architecture consists of three stages: supervision, transmission and displacement. The first stage is constituted for three sensors: temperature (ds18b20), pH (E-201-C) and dissolved oxygen (DOEZO- Atlas-Scientific), with a programmable card Arduino Mega 2560 for the reading of analogue signals of these, and the second by a Raspberry Pi 3, that through a serial port takes the collected data by the Arduino and global positioning system (GPS) to store them and later send them to a data base. The displacement is integrated by a Pixhawk card in which some peripherals are connected to such as: GPS, brushless motors, etc., which will allow to the prototype to displace by planned locations. The obtained information is displayed through a mobile application that downloads the data from the ThingSpeak server. According to the tests performed it was verified that it exceeds the 100 m of telemetry range and the sensors do not show any absolute errors greater to the determined in the maker specifications sheets. Finally, it is concluded that the prototype is considered a little mobile station of water quality supervision, functioning and reliable. It is recommended to realize a closer study with the data base generated to include 2D mapping reports of the variables in question.