JP2021051060A - 計測装置 - Google Patents
計測装置 Download PDFInfo
- Publication number
- JP2021051060A JP2021051060A JP2020119621A JP2020119621A JP2021051060A JP 2021051060 A JP2021051060 A JP 2021051060A JP 2020119621 A JP2020119621 A JP 2020119621A JP 2020119621 A JP2020119621 A JP 2020119621A JP 2021051060 A JP2021051060 A JP 2021051060A
- Authority
- JP
- Japan
- Prior art keywords
- measurement module
- measurement
- measuring device
- excavation
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000005259 measurement Methods 0.000 title claims abstract description 89
- 230000001133 acceleration Effects 0.000 claims abstract description 37
- 238000009412 basement excavation Methods 0.000 claims description 51
- 230000010365 information processing Effects 0.000 claims description 20
- 238000000034 method Methods 0.000 description 18
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000011156 evaluation Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 229920006395 saturated elastomer Polymers 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
- E02F5/14—Component parts for trench excavators, e.g. indicating devices travelling gear chassis, supports, skids
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/264—Sensors and their calibration for indicating the position of the work tool
- E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
- E21B47/0228—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/18—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for well-logging
- G01V3/26—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for well-logging operating with magnetic or electric fields produced or modified either by the surrounding earth formation or by the detecting device
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Mining & Mineral Resources (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- General Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Electromagnetism (AREA)
- Geophysics (AREA)
- Fluid Mechanics (AREA)
- Geochemistry & Mineralogy (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Geophysics And Detection Of Objects (AREA)
Abstract
Description
111 第1加速度センサ 112 第1磁気センサ
113,123 AD変換器 120 第2計測モジュール
121 第2加速度センサ 122 第2磁気センサ
130 情報処理プロセッサ 131 第1校正部
132 第2校正部 133 評価部
134 記録部 135 第1計算部
136 第2計算部 137 第1電源制御部
138 第2電源制御部
Claims (5)
- 地中掘削機の掘削部に配置するための計測装置であって、
高精度に計測するための3軸の第1加速度センサと3軸の第1磁気センサを有する第1計測モジュールと、
掘削中に計測するための3軸の第2加速度センサと3軸の第2磁気センサを有する第2計測モジュールと、
前記第1計測モジュールと前記第2計測モジュールを制御するとともに、前記第1計測モジュールまたは前記第2計測モジュールの出力データに基づいて前記掘削部の位置と姿勢を求める情報処理プロセッサ
を備え、
前記第2加速度センサと前記第2磁気センサは、MEMSセンサである
ことを特徴とする計測装置。 - 請求項1記載の計測装置であって、
前記情報処理プロセッサは、前記第1計測モジュールの出力データに基づいて、前記第2計測モジュールの出力データの誤差を補正する
ことを特徴とする計測装置。 - 請求項1記載の計測装置であって、
前記情報処理プロセッサは、前記第1計測モジュールの出力データに基づいて、前記第2計測モジュールの校正データを補正する
ことを特徴とする計測装置。 - 請求項1から3のいずれかに記載の計測装置であって、
前記情報処理プロセッサは、前記第1計測モジュールの電源をオフにする機能を有する
ことを特徴とする計測装置。 - 請求項1から4のいずれかに記載の計測装置であって、
当該計測装置は、地中掘削機の掘削部に配置された電池から給電される
ことを特徴とする計測装置。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201962905595P | 2019-09-25 | 2019-09-25 | |
US62/905,595 | 2019-09-25 | ||
US16/720,584 US11505915B2 (en) | 2019-09-25 | 2019-12-19 | Underground measuring apparatus |
US16/720,584 | 2019-12-19 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2021051060A true JP2021051060A (ja) | 2021-04-01 |
JP7401404B2 JP7401404B2 (ja) | 2023-12-19 |
Family
ID=72234702
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2020119621A Active JP7401404B2 (ja) | 2019-09-25 | 2020-07-13 | 計測装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11505915B2 (ja) |
EP (1) | EP3798372B1 (ja) |
JP (1) | JP7401404B2 (ja) |
CN (1) | CN112556688B (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113080879A (zh) * | 2021-05-06 | 2021-07-09 | 陕西福音假肢有限责任公司 | 一种连续动态测量关节活动角度的电路及其方法 |
CN113229804A (zh) * | 2021-05-07 | 2021-08-10 | 陕西福音假肢有限责任公司 | 一种用于关节活动度的磁场数据融合电路及其方法 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3695112A (en) * | 1970-10-14 | 1972-10-03 | Clarence R Possell | Electrically operated temperature sensing assembly |
US3987667A (en) * | 1975-06-09 | 1976-10-26 | The United States Of America As Represented By The Secretary Of The Interior | Self-contained instrument for measuring subterranean tunnel wall deflection |
US5585726A (en) * | 1995-05-26 | 1996-12-17 | Utilx Corporation | Electronic guidance system and method for locating a discrete in-ground boring device |
US6315062B1 (en) * | 1999-09-24 | 2001-11-13 | Vermeer Manufacturing Company | Horizontal directional drilling machine employing inertial navigation control system and method |
US8095317B2 (en) * | 2008-10-22 | 2012-01-10 | Gyrodata, Incorporated | Downhole surveying utilizing multiple measurements |
CN101532839B (zh) * | 2009-04-09 | 2011-12-21 | 宋华 | 基于惯性技术的非开挖随钻测量*** |
CN102313543B (zh) * | 2011-07-11 | 2013-07-17 | 上海大学 | 基于巨磁阻传感器的地磁方位角测量***、测量方法及正交补偿方法 |
US9228875B2 (en) * | 2013-04-24 | 2016-01-05 | Deere & Company | Liquid level detection system for a driveline component |
US9976410B2 (en) * | 2014-01-24 | 2018-05-22 | Kyushu Univerisity, National University Corporation | Method for measuring underground boring position and underground boring position measuring apparatus |
US9605412B2 (en) * | 2014-06-04 | 2017-03-28 | Komatsu Ltd. | Construction machine control system, construction machine, and construction machine control method |
WO2016130804A1 (en) * | 2015-02-13 | 2016-08-18 | University Of Massachusetts | Wireless roadway sub-surface sensing system |
US10550682B2 (en) | 2015-10-22 | 2020-02-04 | Micropulse, Llc. | Programmable integrated measurement while drilling directional controller |
CN206158732U (zh) * | 2016-08-29 | 2017-05-10 | 中国科学院地质与地球物理研究所 | 一种近钻头钻具姿态随钻测量装置 |
US10465509B2 (en) * | 2016-10-12 | 2019-11-05 | Baker Hughes, A Ge Company, Llc | Collocated multitone acoustic beam and electromagnetic flux leakage evaluation downhole |
US10746758B2 (en) | 2017-02-21 | 2020-08-18 | Hrl Laboratories, Llc | MEMS-based sensor suite |
EP3721055B1 (en) * | 2017-12-04 | 2023-04-26 | HRL Laboratories, LLC | Continuous trajectory calculation for directional drilling |
-
2019
- 2019-12-19 US US16/720,584 patent/US11505915B2/en active Active
-
2020
- 2020-07-13 JP JP2020119621A patent/JP7401404B2/ja active Active
- 2020-08-24 CN CN202010857814.2A patent/CN112556688B/zh active Active
- 2020-08-24 EP EP20192379.4A patent/EP3798372B1/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP3798372B1 (en) | 2022-11-02 |
US11505915B2 (en) | 2022-11-22 |
CN112556688A (zh) | 2021-03-26 |
EP3798372A1 (en) | 2021-03-31 |
US20210087787A1 (en) | 2021-03-25 |
JP7401404B2 (ja) | 2023-12-19 |
CN112556688B (zh) | 2024-05-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6842991B2 (en) | Gyro aided magnetic compass | |
CA2765095C (en) | A method of calibrating inertial sensors | |
US20100121599A1 (en) | Auto-calibration of orientation sensing systems | |
JP5069287B2 (ja) | 誤差補正の方法 | |
CN109891050B (zh) | 利用相反设置的传感器改良校准来确定位置的方法 | |
RU2390728C1 (ru) | Способ настройки инерциальной навигационной системы с осесимметричным вибрационным датчиком и соответствующая инерциальная навигационная система | |
EP1593931A4 (en) | DIFFERENCE CORRECTION METHOD FOR POSTURE DETERMINATION INSTRUMENT AND DISPLACEMENT MEASUREMENT INSTRUMENT | |
KR101106048B1 (ko) | 센서오차의 작동 중 자동교정 방법과 이를 이용한 관성항법장치 | |
JP2021051060A (ja) | 計測装置 | |
JP2009505062A (ja) | リアルタイムバイアス推定器に基づく慣性機器のための自己較正 | |
JP4941199B2 (ja) | ナビゲーション装置 | |
EP3091335B1 (en) | Calibration of temperature effect on magnetometer | |
US20240045001A1 (en) | System and method for fast magnetometer calibration using gyroscope | |
US8140285B2 (en) | Compass system and method for determining a reference field strength | |
CN107228672B (zh) | 一种适用于姿态机动工况下的星敏和陀螺数据融合方法 | |
JP2013022110A (ja) | ミシンの上糸テンション計測装置 | |
US11067642B2 (en) | Device for generating a magnetic field of calibration and built-in self-calibration magnetic sensor and calibration method using the same | |
JP2018072137A (ja) | ジャイロセンサの補正方法 | |
CN111750846A (zh) | 一种船用罗经及其动态校准方法 | |
US11619683B2 (en) | Method for compensating for an influence of a magnetic interference source on a measurement of a magnetic field sensor in a device and a device | |
US8978474B2 (en) | Inertial measurement systems, and methods of use and manufacture thereof | |
JP2013117442A (ja) | 方位誤差補償装置、方位誤差補償方法、方位誤差補償プログラム、誤差角度補償装置、3軸磁気センサ及びセンサモジュール | |
KR100955601B1 (ko) | 변위센서와 가진기를 이용한 각속도 측정장치 | |
JP2011506948A (ja) | 容量性素子の利得の補正方法及び該補正方法を実施する装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20230411 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20231017 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20231031 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20231127 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20231205 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20231207 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7401404 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |