唐 荣，邹海生，汤涛林，陈 军，杨家朋，刘兴国
（农业部渔业装备与工程技术重点实验室，中国水产科学研究院渔业机械仪器研究所，上海 200092）

摘要：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。

关键词：投饲船；测控系统；自动投饵；水产养殖

Design of an automatic feeding boat and its control system
TANG Rong1,2, ZOU Haisheng1,2, TANG Taolin1,2, YANG Jiapeng1,2, CHEN Jun1,2, LIU Xingguo1,2
( 1 Key laboratory of Fishery Equipment and Engineering，Ministry of Agriculture; 2 Fishery Machinery and Instrument Research Institute，Chinese Academy of Fishery Sciences，Shanghai 200092)

Abstract: 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.

Key words: feeding boat; measurement and control system; catamaran; double propellers; aquaculture

（来源：《渔业现代化》2013,40(6):30-35）