自主式蝦池投餌機器人之研發

由於蝦子的底棲、喜在池邊覓食及進食速度慢等特性，蝦池投餌仍難以自動化。本研究研發養蝦池自主式投餌機器人，目標是能自動沿蝦池周邊繞行投餌。機器人以船外機為動力，用單板電腦為計算核心，用3顆超音波感測器偵測機器人與岸邊之距離、角度和前方障礙，用模糊控制法則計算船外機控制參數。現場試驗的結果，機器人在無風或微風時可沿池邊距離150 cm繞行池塘，誤差小於20%，遇到轉角或障礙時能夠轉變方向及時避開，並能利用紅外線感測器返回停靠點停靠，初步達成研發目標。機器人可攜帶約24 kg飼料，投餌半徑可達150 cm，可以在日間和夜間投餌，並可以少量多餐方式精確設定投餌量，相較於人力投餌可增加投餌的彈性和精準度。但是機器人的行動在池塘風力和水流增強時仍會受到干擾，需要提高動力，改進外形和重量以減少風力和水流的影響，並需要增加感測器以提高機器人的定位和導航避障能力。機器人停靠點亦需要增加自動充電和補料功能以進一步減少人力需求。

關鍵字

水產養殖；蝦；投餌機器人；模糊控制

並列摘要

The purpose of this research is to develop an autonomous shrimp feeding robot that could navigate along pond side while spreading shrimp feed. The feeding robot is powered by an outboard engine and controlled by a single board computer. The robot has three ultrasonic sensors to detect the distance from the robot to the pond side as well as obstacles in the front. A fuzzy logic guidance control algorithm is developed to find the control parameter for the outboard engine. Field tests show that the robot can navigate along shrimp pond side at a distance of 150 cm with a distance variation less than 20%. The robot can effectively change direction to avoid obstacles in the front. Upon completing the operation it can go to a docking point to park itself based on an infra-red guidance signal from the docking point. The robot can carry 24 kg of feed and spread the feed up to a distance of 150 cm. It could deliver feed 24 hours a day with a much better accuracy and flexibility than human labor. Nevertheless, the current version of the robot still needs improvement in power, weight, and outer profile to overcome the influence of high wind and water current on guidance control. Additional sensors are needed to improve the robot's ability in localization and obstacle avoidance. Utilities at the docking point also need to be developed for the automatic recharging and feed refilling of the robot to further reduce maintenance labor.

並列關鍵字

Aquaculture ； Shrimp ； Feeding Robot ； Fuzzy control

國際替代計量

自主式蝦池投餌機器人之研發

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