Mobile Shrimp And Crab Pond Autonomous Feeding Device Control System Research

Shrimp and crab feeding has territorial characteristic and requires the whole pond to be bait-sprayed.The quality of bait feeding is high and the labor intensity is high.As the number of workers willing to participate in front-line work gradually decreases,labor costs continue to increase,and the automation of aquaculture needs to be resolved.Fish feeding has basically been mechanized,but the automatic feeding equipment for shrimp and crab breeding is still immature.There are still many problems with the currently-developed feeding equipment,such as uneven feeding,low reliability,and high cost higher.Based on this,this article studies the control system of the mobile shrimp and crab pond autonomous navigation feeding device drived by paddle wheels.According to the on-site feeding needs of shrimp and crab ponds,the overall functional design of the feeding device was completed.It was determined that the catamaran was equipped with various functional modules,and the control system was used to implement autonomous navigation feeding of the feeding device.And reasonable placement of each functional module.The structural design of the catamaran and the bait box enhances the hull reliability and ensures the smoothness of falling bait.The hull design of the bait boat is 1.8mx1.1m x1 m.The hull is rotomolded from PE material.It is a fully enclosed structure with a maximum load of 60 kg.The hull draught is 0.21 m at no load and 0.27 m at full load.The drive system is designed to adopt paddle-wheel drive to improve drive efficiency,prevent obstacles such as waterweeds from entanglement,and improve the reliability of the feeding device.Complete drive motor selection and the design of chain drive.Select the number of small sprocket teeth is 14 and the number of large sprocket teeth is 23,and Two 60 W,1800r / min,GPG-07 SC brushed DC motor gearboxes with a reduction ratio of 15.In order to ensure the uniformity of spreading and low crushing rate,the existingfeeding system was analyzed and compared,and the screw conveying device and the throwing device were selected for feeding.Calculated by theoretical formula,the conveying device selected GPG-07 SC brushed DC motor gearbox with 12 v / 60 w,1800r / min,and reduction ratio of 50,and throwing device selected 12 v / 50 w flat motor with rated speed of 3000 r / min.According to the feeding ability test of the breeding pond,the average feeding rate is 1.3kg / min,and the width of the throwing disc is about 10 m.The feeding is uniform,which can meet the growth needs of shrimps and crabs.In order to ensure the stability of the shrimp and crab pond on-site autonomous navigation feeding,according to the shrimp and crab pond feeding and control performance requirements,an autonomous navigation control system based on GPS +electronic compass was developed.The hull linear motion acceleration and deceleration model construction and the hull in-situ turn motion model construction are adopted.The combination of straight and in-situ turn motion is adopted,that is,when the linear motion reaches the turning point,it decelerates to zero first,and after the in-situ turn,the acceleration is accelerated speed.This movement method can form a fold line instead of a cruise trajectory with an arc,and achieve better decoupling of speed and heading under the premise of meeting feeding requirements,reduce control difficulty,and improve anti-interference ability.Adopt PID heading and speed motion control algorithm for cruise path control,use high-precision GPS system based on RTK(real time kinematic)mode to collect the four corner coordinates of the pond,and calculate and set the key points(starting point,insertion point,turn)of the channel according to the feeding path Point),the insertion point is determined based on the length of the linear motion.The coordinates of the key points are downloaded to the feeding device control system,and the control system performs the corresponding straight and turning actions according to the position information between the starting point and the insertion point and the turning point.Developed a main control board and a handheld remote control to complete the selection of wireless digital radio stations.The power lithium battery was selected as the power supply for the control system of the feeding device.Based on the Chongdong Aquaculture Cooperative in Chongming District,Shanghai,and using the paddle-wheel-driven autonomous navigation feeding device as a test object,the test was conducted in the pond of Chongdong Aquaculture Cooperative in Chongming District,Shanghai.There are obstacles such as aerators and telephone poles in the pond.The test conditions are more in line with the actual feeding environment of shrimp and crab ponds,and the test results are more realistic.The navigation accuracy and feeding ability of the feeding device were tested.When the feeding device autonomously navigates,the average speed is 0.72 m / s,the maximum straight yaw amount is 0.8m,the maximum turning yaw amount is 0.5m,and the average feeding rate is 1.3.kg / min,relatively stable performance,can solve the problem of cruise trajectory design such as aerators and telephone poles in the pond through the method of folding line movement.It has been verified in the windy environment,which significantly reduces the labor intensity.The 40-day test process shows that the developed feeding device has good reliability and meets the actual field application requirements of shrimp and crab ponds.