| With the greatly increasing of shrimp products demand for consumers,shrimp farming has become an important part in aquaculture.The bait is the most directly controlling cost in aquaculture.The way to ensure bait feeding uniformly,reducing waste and realizing intelligent shrimp farming feeding is the key problem to be solved in shrimp breeding process.In view of differences in foraging habits,bait needs to be fed around the shrimp pond.So the way of feeding in shrimp pond is different from that in fish pond in which can use fixed type feeding machine.However,shrimp feeding currently relies on artificial feeding along the port side,with high labor intensity and low working efficiency.With labor supply gradually tightening and costs continually rising in a few years,the development of the industry would not be able to realize the flexible transformation if it cannot provide technical reserves or technology innovation in advance under the reality of the situation with unstable profits in the aquaculture industry.There are nearly 40 thousand acres of shrimp ponds in Shanghai and several million acres of shrimp ponds in our country,which retains the huge market demand superiority.The development of a highly intelligent feeding device will have a broad prospect.The Chinese shrimp farming has made great progress in technology,but it is still inadequate in the exact farming because of greatly relying on personnel experience aquaculture.Bait feeding mainly rely on manpower due to the need for uniform sprinkle,but the effect is not satisfactory.Currently,there is no suitable feeding equipment support to solve the feeding problems in the shrimp breeding process at home.Moreover,these equipment must meet the need of the application in relatively poor environment,and also be highly reliable and easy to use.In order to solve this problem,the core point of breakthrough must be chosen.Conduct research on related equipment relies on information technology,networking and other new technologies.According to these problems in shrimp feeding,such as the backward and uneven feeding way,the intelligent mobile shrimp feeding equipment has been developed,and it must be very simple and easy to operate.This device combined with rotational molding technology,North Bucket autonomous navigation technology,automatic feeding solar technology and continuous power supply technology for development,can realize the intelligent operation of easy operation,high reliability of the selffeeding to improve work efficiency.The main contents and achievements of this paper are as follows:1)To raise the overall design scheme of intelligent mobile shrimp feeding device based on Beidou autonomous navigation and double propeller technology,it should take the catamaran as the carrier,and plan rational layout and design of the system function.2)A floating platform of integrated design concept can be proposed.The design of ship lines and material box is optimized.And the floating platform and material box will be manufactured by using rotational molding technology.The design parameters of the whole device are as follows: the length is 1800 mm,the width is 1200 mm,the total height is 1000 mm,the sheet body height is 350 mm,the depth of maximum draft is 240 mm.Next,the structure parameters of the whole device load have been checked.The center of gravity and buoyancy of device have been estimated.And the power system of the device that is determined by 2 150 W DC motor that drives the driving mode of the double propeller is designed,and then the feeding process is completed.3)To optimize the structure of blanking system and sprinkling system of feeding machine respectively,the feeding system chooses both blanking mode of off-centered shaking and sprinkling mode of turntable throwing to complete feeding task.Building model for an off-centered shaking can be used to calculate the optimal amplitude interval,which is 1.26 to 1.68 mm,by analyzing hinge four-bar mechanism.The optimal bending angle is 12 degree,which from the analysis of motion simulation for turntable.With the help of feeding experiment on land,the test results show that the optimization effect of feeding system after optimization has been obviously improved in polishing uniformity and broken rate.4)Complete the design of control system.The precision test of autonomous navigation module can be used to ensure the right Beidou navigation localizationmodule.The final selection is MN110 module whose positioning accuracy can reach to 0.82 m.The development of rotary path planning deviation control algorithm,the speed adaptive feeding control algorithm and the feeding area adaptive feeding control algorithm is based on the Beidou navigation technology.According to the control requirements for the function implementation of the system,the development on the main control board and motor driver board that can be realized to complete device intelligent feeding depends on the instructions of the self-feedback.5)In order to avoid unnecessary trouble caused by carrying the battery and ensure the normal operation of device,the energy supply system mainly contains the design section and the calculation section of the battery selection.And eventually the solar energy and lead-acid battery have been chosen for the design of the energy supply system to promote the realization of the unmanned operation.6)In order to verify the feasibility and the effect of intelligent mobile shrimp feeding equipment,a series of experimental tests have been done in Haifeng aquaculture cooperatives of Shanghai.The test includes 4 projects,the first one is to test the maximum offset of device to verify the feasibility and practicability of rotary path deviation control algorithm.The second one is to test device performance in the limit working condition to obtain parameters,including the sailing speed,time,feeding quantity and interval distribution density equivalent of bait.The third one is to verify the feasibility of the speed adaptive feeding control algorithm.The fourth one is to verify the feasibility of the regional adaptive feeding control algorithm.All in all,the result of feeding test provides a basic basis for the promotion and application of the device. |
PDF Full Text Request