Abstract: In the process of shrimp and crab breeding, the feed was thrown along the pond and manually rowed, which could not be fed evenly. There were some problems, such as low feed utilization rate, low feed operation efficiency, affecting the water quality of the pond, high labor intensity, large randomness of feed throwing, poor distribution consistency and uniformity, etc. The operational performance of pellet feed spreading UAV and intelligent feeding ship was tested by measuring the feeding ability, feeding damage rate, maximum feeding width, route planning ability, driving trajectory accuracy and endurance ability of autonomous control mode. The efficiency of machines was tested by measuring productivity, feeding efficiency ratio and economic benefit. The test results showed that the feeding capacities of the pellet feeding UAV and the intelligent feeding ship were 2.04-35.10 kg/min and 0.75-3.02 kg/min respectively, their average damage rates were 0.28% and 2.07% respectively, their average maximum feeding widths were 14.85 m and 10.402 m respectively, their route planning abilities were automatic planning and manual planning respectively, their maximum horizontal yaw distances of travel trajectory accuracy were -0.17 m and -0.73 m respectively, their shift hourly productivities were 7.918 hm2/h and 3.841 hm2/h respectively, and their feeding efficiency ratios were 53.24% and -25.66% respectively, their average costs per square kilometer were 1 867.05 yuan and 5 244.6 yuan respectively. Both models carried out intelligent feeding operation of pellet feed. The pellet feed spreading UAV could continuously feed between multiple ponds without manual handling machines. The efficiency, reliability and transfer flexibility of feeding operation were higher than intelligent feeding ship and manual feeding operation. And the UAV operation was not affected by the shape and size of pond, water and grass coverage, oxygenation pipeline, wire arrangement, etc. The intelligent feeding ship could carry out feeding operation in rainy, windy and other bad weather. The duration of operation was long, and charging once could meet the feeding operation on the same day. Feeding and pesticide application could be completed at one time.

Key words: river crab, intelligent feeding equipment；UAV, unmanned ship, applicable performance；feeding test

摘要： 针对虾蟹养殖过程中投饵采用沿塘抛洒、人工划船抛洒等无法做到均匀投喂，存在饵料利用率低、投饵作业效率低、影响水质、劳动强度大，饵料抛撒分布一致性和均匀性差等问题。开展颗粒饲料撒播无人机和智能投饵(药)船等智能投饵装备的投饵能力、投饵破损率、最大投饵幅宽、航线规划能力、自主控制模式行驶轨迹精度、续航能力的测定，测试机具作业性能；通过对生产率、投饵效率比、经济效益的测定，测试机具效能。试验结果表明：颗粒饲料撒播无人机和智能投饵(药)船投饵能力分别为2.04~35.10 kg/min和0.75~3.02 kg/min，破损率平均值分别为0.28%和2.07%，最大投饵幅宽平均值分别为14.85 m和10.402 m，航线规划能力分别为自动规划和人工规划，行驶轨迹精度最大水平偏航距分别为-0.17 m 和-0.73 m，班次生产率分别为7.918 hm2/h和3.841 hm2/h，投饲效率比分别为53.24%和-25.66%，平均费用分别为1 867.05元/hm2和5 244.6元/hm2。两款机型均进行颗粒饲料智能化投饵作业。颗粒饲料撒播无人机可在多个池塘间连续投饵作业，无需人工搬运机具进行换塘作业，投饵作业效率、可靠性和转移灵活度高于智能投饵(药)船和人工投饵作业；不受池塘形状尺寸、水草覆盖率、增氧管路、电线排布等影响；智能投饵(药)船可在下雨、刮风等恶劣天气进行投饵作业；作业续航时间较长，充一次电可满足当日投饵作业；可一次同时完成投饵和施药作业。

关键词: 河蟹, 智能投饵装备, 无人机, 无人船, 适用性能, 投饵试验