Desenvolvimento de um robô autônomo para controle de nível de oxigênio em tanques de piscicultura

Abstract

The control of the oxygen content of reservoirs is the key element for the profitability of intensive production in fish farming. The objective of this work is to develop a cable-driven parallel robot, or CDPR, in order to direct a probe for the measurement of dissolved oxygen in water from several reservoirs using a single sensor and, thus, reduce the costs of the process of automate and control dissolved oxygen level for producers. The construction of this type of robot allows versatility, low cost, durability, easy maintenance and installation due to the system being composed only of cables and posts on which the tension actuators are installed. A 4-cable CDPR system was developed, based on 1 master mechanical actuator and another 3 slaves. The robot was developed from the master mechanical tensioner as a reference, which is composed of an Arduino Nano microcontroller, which manages and calculates how the cables will move and also communicates by radio through the NRF24L01 module, to the other slave tensioners located at long distances. The robot includes single-phase motors to pull and untie cables and rotary sensors to monitor these motors. For this purpose, the robot was tested in a controlled work area and on a smaller scale than planned. With this work it was possible to provide movement in three degrees of freedom for a probe, in which it reached 6 measurement points distributed in a space of approximately 100 cubic meters, with a maximum position error of 12.57 cm between the stipulated and reached points in practice.