自律制御ボート型ロボットの開発と河川流速と水位の自動計測

Abstract

This paper describes a prototype of a boat-type robot, which can automatically measure the mean velocity in river flows. The rotational speed of the screw propeller is proportional to the attacking velocity. Reliable laboratory experiments were conducted with the boat robot and electromagnetic velocimetry to obtain a calibration curve that connects the screw speed and mean current velocity. Two-dimensional navigation tests results in that the prototype moves smoothly to the target points and accurately measures the streamwise velocity profiles across the mainstream. Furthermore, the present robot was found to move successfully in a small natural river also, and we could evaluate the cross-sectional discharge.