Figure 8
From: Mobile sailing robot for automatic estimation of fish density and monitoring water quality
Changes in the maximum Tm value [m] for the value of the angle of the sonar ultrasonic beam cone ranging from 2oto 50oand three different depths of 0.1; 1.0 and 3.0 meters. Three characteristic points for the angle α = 30° are indicated in the graph. For such a value of the angle, the maximum distance of neighboring crossings (Tm) was 0.24, 2.4 and 7.2 meters for the maximum depths of the reservoir 0.1, 1 and 3 m, respectively. This is very practical information related to the maximum possible distance between adjacent crossings of the robot for a given type of sonar ultrasound head and a given depth.