湖沼環境モニタリングのための電動ロボットエアボートの開発  [in Japanese] Development of an Electric-Powered, Unmanned Airboat for Lake Environment Monitoring  [in Japanese]

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Abstract

<p>湖沼のソナーによる深度計測や,水質の計測を効率的に行うため,自律航行可能な電動ロボットエアボートの開発を行った。プロペラの動力としてブラシレスモータを用いることで,ガソリンエンジンと比較して,軽量化や排気のクリーン化,騒音及び振動の低減,プロペラ回転数制御の容易化などが実現された。プロペラの回転数に対するボートの速度と消費電力を計測し,最大航行時間及び最大航行距離の推定を行った。基礎性能試験として,定点停留制御や直線追従制御の精度評価を行った。その結果,湖沼全体のマップを作成するための十分な精度が得られた。フィールド試験を,日本の北海道の阿寒湖チュウルイ湾とオンネトーで行い,試作ボートを用いた調査領域全体の深度や水質のマップの作成に成功した。</p>

<p>An autonomous, electric-powered, unmanned airboat was developed for the efficient measurement of depth and water quality of inland water bodies. Compared with a gasoline engine, an electrical brushless motor was lighter, cleaner, quieter, less vibrating, and more controllable. The maximum distance and maximum operation period were estimated by measuring the vessel speed and power consumption with respect to the rotational speeds of the propellers. The accuracies of staying controlled on fixed points and in line following control were evaluated as the basic performance test of the boat. The results showed that the accuracies were sufficient enough for creating a map of the entire lake. Field trials were done in Churui Bay, Lake Akan, and Lake Onneto in Hokkaido, Japan. Depth maps and various water quality maps were successfully drawn for these lakes using the prototype.</p>

Journal

  • Journal of the Japanese Society of Agricultural Machinery and Food Engineers

    Journal of the Japanese Society of Agricultural Machinery and Food Engineers 77(6), 477-484, 2015

    Japanese Society of Agricultural Machinery and Food Engineers

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