面向黄鳝养殖的自主移动投喂机器人研制

研制一种面向黄鳝养殖的自主移动投喂机器人系统，主要包括AGV搬运小车、XYZ数控电动同步带滑台直线导轨模组、投喂蠕动泵、运动控制器等组成部分。AGV搬运小车通过传感装置实时检测导向磁条确定工作路径。运动控制器对XYZ三维数控电动同步带滑台直线导轨模组的步进电机输出脉冲信号，实现机器人投喂位置的空间定位。通过控制蠕动泵驱动电机的转速，实现饵料的精准投喂和投喂过程的稳定性。针对三层立体结构黄鳝养殖池样进行9次样机性能测试，每次目标投喂量为9.5 g。结果显示，机器人空间定位精度的平均误差为（2.1,1.8,2.1） mm，标准偏差为（2.6,2.3,2.5） mm。机器人的平均投喂速度为1.85 g/s，平均投喂量为9.3 g，投喂量的误差小于5%。为评估系统的稳定性和可靠性，机器人以0.5 km/h的移动速度连续运行50 h，未发生技术故障和系统中断。综上所述，该自主移动投喂机器人运行稳定可靠、投喂精度高，投喂效果良好，具有较强的实用和推广价值。

Development of an autonomous mobile feeding robot for eel farming

In this paper, an autonomous mobile feeding robot system for eel farming is developed, which mainly includes AGV handling trolley, XYZ CNC electric synchronous belt sliding table linear guide module, feeding peristaltic pump, motion controller, etc. The AGV handling trolley detects the guiding magnetic stripe in real time to determine the working path through the sensing device. The motion controller outputs pulse signals to the stepping motor of the XYZ three-dimensional CNC electric synchronous belt slide table linear guide module to achieve the spatial positioning of the robot feeding position. By controlling the rotational speed of the peristaltic pump drive motor, the precise feeding of bait and the stability of the feeding process are realised. Nine prototype performance tests were carried out for the three-layer three-dimensional eel pond with a target feeding volume of 9.5 g. The results showed that the average error of the robot spatial positioning accuracy was (2.1, 1.8, 2.1) mm, and the standard deviation was (2.6, 2.3, 2.5) mm, and the average feeding speed of the robot was 1.85 g/s, and the average feeding volume was 9.3 g, with an error of less than 5%. error was less than 5%. To assess the stability and reliability of the system, the robot was operated continuously for 50 hours at a travelling speed of 0.5 km/h without technical failures or system interruptions. In conclusion, the autonomous mobile feeding robot is stable and reliable, with high feeding accuracy and good feeding effect, which has strong practical and popularisation value.