Treffer: Design and Test of Rail-type Automatic Precision Feeding Robot.

In order to improve the level of intelligence, mechanization and precision of indoor factory aquaculture equipment, reduce the economic cost and manual labor intensity, and improve the efficiency of aquaculture, based on the modular design concept and the "end-edge-cloud" architecture, and combined the UWB positioning technology, encoder, sensors, wireless communication, microcontroller and computer software, a new type of rail-type automatic accurate feeding robot was developled. The system consisted of four parts: walking system, feeding system, positioning system and control system. The control was based on Jetson Nano industrial computer and STM32 microcontroller as the core, using WiFi and other network modules to establish wireless communication, using cloud servers for remote data interaction, using UWB, inertial sensors, and encoders for fusion localization, and modular design of the walking mechanism and feeding device. Solidworks software was used to design the prototype of the rail-type automatic feeding robot, and the accuracy of feeding quantity, feed breakage rate and spreading distance were tested on the prototype, and the test verification showed that: the robot met the parameters and technical requirements, can successfully complete the automatic start-stop and operation control, feed capacity of 60 kg, feeding capacity of 260 kg/h, feeding error of less than 3.3%, feed breakage rate of less than 5%, the effective feeding distance up to 8.5 m. The results of the study can provide a reference for the design of automatic feeding equipment for factory aquaculture. [ABSTRACT FROM AUTHOR]