面向黄鳝养殖的自主移动投喂机器人研制.

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 rate of the robot was 1.85 g/s, and the average feeding volume was 9.3 g, with an error of 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. [ABSTRACT FROM AUTHOR]