Title:
重力測定装置
Document Type and Number:
Japanese Patent JP6723111
Kind Code:
B2
Abstract:
Provided is a gravity measuring device which is capable of autonomous navigation and hovering in water and which is grounded on a body-of-water bottom to measure gravity. The gravity measuring device comprises: a gravity measuring unit for measuring gravity; a propulsion generating unit for generating propulsion such that the gravity measuring device can move in the water; a laser for irradiating the body-of-water bottom with laser light; a camera for capturing the body-of-water bottom that has been irradiated with laser light by the laser; a body-of-water bottom shape acquiring unit for acquiring a three-dimensional body-of-water bottom shape on the basis of images captured by the camera; a grounding position determining unit for determining a target grounding position of the gravity measuring device on the basis of the body-of-water bottom shape acquired by the body-of-water bottom shape acquiring unit; a grounding control unit for controlling the propulsion generating unit such that the device arrives at the target grounding position determined by the grounding position determining unit, the grounding control unit causing the gravity measuring device to be grounded at the target grounding position; and an attitude sensor for detecting changes in the attitude of the gravity measuring device.
Inventors:
Atsushi Oshida
Toshihiro Maki
Takumi Matsuda
Okuma Shigeo
Masao Komazawa
Toshihiro Maki
Takumi Matsuda
Okuma Shigeo
Masao Komazawa
Application Number:
JP2016166497A
Publication Date:
July 15, 2020
Filing Date:
August 29, 2016
Export Citation:
Assignee:
Kawasaki Geological Co., Ltd.
National University Corporation Tokyo University
National Institute of Advanced Industrial Science and Technology
National University Corporation Tokyo University
National Institute of Advanced Industrial Science and Technology
International Classes:
G01V7/16; B63C11/00; B63G8/39; B63H25/04; G01B11/24; G01B17/06; G01C15/00
Foreign References:
| US20100153050 |
Other References:
James C. Kinsey, Maurice A. Tivey, amd Dana R. Yoerger,Toward High-Spatial Resolution Gravity Surveying of the Mid-Ocean Ridges with Autonomous Underwater Vehicles,Oceans,2008年 9月
巻俊宏、近藤逸人、浦環、坂巻隆,自律型水中ロボット「トライドッグ1号」,日本マリンエンジニアリング学会誌,2008年,Vol.43/No.4,Pages 73-76
巻俊宏,海中ロボットと地図,日本ロボット学会誌,2015年12月,Vol.33/No.10,Pages 766-772
巻俊宏、近藤逸人、浦環、坂巻隆,自律型水中ロボット「トライドッグ1号」,日本マリンエンジニアリング学会誌,2008年,Vol.43/No.4,Pages 73-76
巻俊宏,海中ロボットと地図,日本ロボット学会誌,2015年12月,Vol.33/No.10,Pages 766-772
Attorney, Agent or Firm:
Kaichi International Patent Office