Research Of Walking Intelligence Oxygenated Robot Based On Solar Power

With the improvement of living standards,the demand for aquatic resources has been increasing.However,the cultivation of fish ponds is the top priority in China's aquatic products supply chain.For fish ponds,oxygen content is particularly important.The level of dissolved oxygen in water directly affects the survival and growth of fish.When the amount of dissolved oxygen in water is less than 1mg / L,the breeding organisms will cause floating heads or even "pans" because of excessive oxygen deficiency,resulting in severe reduction of production.Therefore,the aerator came into being.The kinds of oxygen machines are impeller,waterwheel,microporous and surge machines,etc.Although different kind of aerator which advantages and disadvantages are different,but these aerators are usually fixed in a certain position or random movement,this method neither can make the distribution of oxygen inside the pond evenly,or the oxygen content in the pond can be detected,which is unfavorable to the growth of fish,and it is also required more aerators in the larger fish ponds.Therefore,the use of information development technology to timely acquire environmental parameters such as oxygen content,use of new green renewable energy sources to reduce energy consumption,and mechanization to replace labor will be the breakthrough points for future development.This paper designs a mobile aerator based on solar energy,which is suitable for auxiliary aeration of 0.82-1.32 acres of fish ponds.For this aerator,this article will elaborate on the hardware and software.The hardware includes the bottom control module and the sensor module.The software part mainly includes the path analysis and the walking influence analysis.In this paper,aerators use clean,renewable,new energy,solar energy combined with mains electricity to power the entire aerator,and carry out low-energy,high-efficiency aeration in accordance with the law of aeration in aquaculture.The low-level control module is based on the HF-LPB100 ultra-low-power Wi-Fi module and the server for information exchange,and timely sends environmental parameters such as dissolved oxygen amount and p H value in fish ponds.The sensor module includes a distance measuring module(anti-wall sensor,anti-lighting sensor)and a water quality monitoring module.Anti-collision sensor uses 4 HC-SR04 ultrasonic ranging sensors,anti-grounding sensor uses an ultrasonic transducer,and the two cooperate with the algorithm for distance measurement to complete the barrier and avoid the need for stranding;the water quality parameter module adopts the Shanghai Union Cheung company's DP5100 DP+PH dual intelligent module measures dissolved oxygen,p H and temperature at the same time.The path planning adopts the "Z" type finite state machine model based on ant colony algorithm as path walking support.The aerator will complete the traditional waterwheel type aerator function,stir the water body during walking and promote the exchange of oxygen between the upper and lower layers.The results show that solar energy combined with mains power can meet the power supply requirements of aerators;the path of the robot can reach more than 23.17% of the area,and the oxygen increasing range is 15.4% greater than that of the traditional aerator,and the oxygenation capacity of is 2.07kg/h.