CAJ | 학술논문

为解决对虾养殖中人工投饲强度大、劳动力成本高等问题，进行了自动投饲船的研究开发。设计了一种采用蓄电池的电动投饲船及测控系统。投饲船沿池塘四周航行，同时投放饲料。船体采用双体船结构，推进装置为两台对称布置的螺旋桨推进器。测控系统用于航行轨迹和航向测量、数据传输及航向控制。测距传感器测量投饲船与池塘堤岸的距离，从而确定投饲船的航行轨迹。电子罗盘测量投饲船航行方向。通过调整两个推进器的转速差来控制航向和航速。安装在船上的投料机执行饲料投放工作。样机试验表明，该投饲船运行稳定，测控系统获取的信息可上传至上位机，用于监控投饲船的工作过程。
위해결대하양식중인공투사강도대、노동력성본고등문제，진행료자동투사선적연구개발。설계료일충채용축전지적전동투사선급측공계통。투사선연지당사주항행，동시투방사료。선체채용쌍체선결구，추진장치위량태대칭포치적라선장추진기。측공계통용우항행궤적화항향측량、수거전수급항향공제。측거전감기측량투사선여지당제안적거리，종이학정투사선적항행궤적。전자라반측량투사선항행방향。통과조정량개추진기적전속차래공제항향화항속。안장재선상적투료궤집행사료투방공작。양궤시험표명，해투사선운행은정，측공계통획취적신식가상전지상위궤，용우감공투사선적공작과정。
Research on automatic feeding boat has been done in order to solve the problem of artificial feeding in shrimp farming such as high labor intensity and high labor cost .An electric boat powered by battery and it's measurement and control system are designed .The feeding boat throw out feed while sail along the shore of the pond .The feeding boat is a catamaran with two symmetrical propellers which are arranged symmetrically .The measurement and control system is designed to measurement the track and the sailing direction , communicate and control direction .The track is detected by measuring the distance from the pond shore using distance sensor .The sailing direction is detected with electronic compass .The differential control to double propellers is proposed to control the sailing direction and speed .A feeder on the boat is used to throw out feed .The feeding boat run reliably during prototype test , and the information obtain from the measurement and control system could be send to the host computer to monitor the feeding boat .