渔业现代化

渔业现代化杂志

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虾塘投饲船载自适应速度投饲系统设计与实现

  1. （1上海海洋大学工程学院，上海 201306；
    2上海海洋可再生能源工程技术研究中心，上海 201306）
  • 出版日期:2021-08-20 发布日期:2021-10-14
  • 通讯作者: 张丽珍（1967—），女，教授、博士，研究方向：现代渔业和海洋装备。E-mail：lzzhang@shou.edu.cn
  • 作者简介:叶杰民（1996—），男，硕士研究生。研究方向：机械设计及自动化。E-mail:939488411@qq.com
  • 基金资助:
    国家重点研发计划蓝色粮仓科技创新专项项目（2019YFD0900401）；上海市工程技术研究中心建设计划“上海海洋可再生能源工程技术研究中心（19DZ2254800）”

Design and implementation of adaptive speed feeding system for shrimp pond feeding boat

  1. (1 College of Engineering Science and Technology, Shanghai Ocean University, Shanghai 201306, China；
    2  Shanghai Engineering Research Center of Marine Renewable Energy, Shanghai 201306, China)
  • Online:2021-08-20 Published:2021-10-14

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摘要： 为了让投饲船能根据实时船速自动调整投饲速率，从而把虾饲料比较均匀地抛洒至沿着虾塘四周的“食道”上，研制了一种根据虾塘四周“食道”而设计的实时船速自动调节投料量的投饲系统。该系统采用超带宽 (UWB)定位系统来定位船体的位置，由单片机解算出投饲船的实时行驶速度，根据船速、虾塘 “食道”周长和总投饲量计算出投饲船的实时投饲速率。投饲控制系统根据计算出的实时投饲速率控制投饲机构中的舵机转角，舵机的转角与投饲机构投料口的开度一一对应，从而实现均匀投饲。在个人电脑（PC）端上位机上输入投饲船初始参数，同时显示投饲船船速和投饲机构开度大小。船速获取精度试验和投饲机构投料口开度试验显示：投饲机构投料口能在1 s内打开到与船速相对应的开度，实现投饲速率的实时调整；在船速0.5 ~2 m/s的工作情况下，该投饲系统投饲速率误差在2.5%以内，能够实现饲料在虾塘“食道”上的均匀投放，有较好的实用价值。

关键词: 虾塘, UWB, 均匀投饲, 船速, 投饲速率, 投饲机构

Abstract: In order to allow the feeding boat to automatically adjust the feeding rate according to the real-time ship speed, so as to evenly sprinkle the fodder along the feeding path around the shrimp pond, a real-time boat speed automatic adjustment feeding system was  developed based on the feeding path around the shrimp pond. The system uses UWB (Ultra-Wide Bandwidth) positioning system to locate the position of the boat. The real-time running speed of the feeding boat is calculated by a single chip microcomputer. The real-time bait-casting rate of the feeding boat is calculated according to boat speed, feeding path perimeter and total feeding quantity of the shrimp pond. According to the calculated real-time bait-casting rate, the steering engine rotation angle of the feeding mechanism is controlled by the feeding control system. The steering engine rotation angle corresponds to the opening of the outlet of the feeding mechanism, so as to achieve even feeding. Input the initial parameters of the feeding boat on the PC, and display the speed of the feeding boat and the opening of the feeding mechanism. The accuracy test of boat speed acquisition and the opening test of the outlet of the feeding mechanism show that the outlet of the feeding mechanism can be opened to the opening corresponding to the boat's speed within 1s, which can realize the real-time adjustment of the bait-casting rate. When the boat speed is 0.5 ~2 m/s, the bait-casting rate error is less than 2.5%。The adaptive speed feeding system can ensure consistent  feeding of fodder in the shrimp pond’s feeding path , and has a good practical value.

Key words: Shrimp pond, UWB, evenly feeding, boat speed, bait-casting rate; , feeding mechanism