Title:
GRAVITY MEASURING DEVICE
Document Type and Number:
WIPO Patent Application WO/2018/043006
Kind Code:
A1
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:
OSHIDA ATSUSHI (JP)
MAKI TOSHIHIRO (JP)
MATSUDA TAKUMI (JP)
OKUMA SHIGEO (JP)
KOMAZAWA MASAO (JP)
MAKI TOSHIHIRO (JP)
MATSUDA TAKUMI (JP)
OKUMA SHIGEO (JP)
KOMAZAWA MASAO (JP)
Application Number:
PCT/JP2017/027945
Publication Date:
March 08, 2018
Filing Date:
August 01, 2017
Export Citation:
Assignee:
KAWASAKI GEOLOGICAL ENG CO LTD (JP)
UNIV TOKYO (JP)
AIST (JP)
UNIV TOKYO (JP)
AIST (JP)
International Classes:
G01V7/16; B63C11/00; B63G8/39; B63H25/04; G01B11/24; G01B17/06; G01C15/00
Foreign References:
| US20100153050A1 | 2010-06-17 |
Other References:
KINSEY, JAMES C. ET AL.: "Toward High-Spatial Resolution Gravity Surveying of the Mid-Ocean Ridges with Autonomous Underwater Vehicles", OCEANS 2008, September 2008 (2008-09-01), pages 1 - 10, XP031482999
MAKI ET AL: "Autonomous Underwater Vehicle "Tri-Dog 1"", JOURNAL OF THE JAPAN INSTITUTE OF MARINE ENGINEERING, vol. 43, no. 4, 2008, pages 73 - 76, XP055604208
MAKI: "Maps for Underwater Vehicles", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 33, no. 10, 2015, pages 766 - 772, XP055604215
MAKI ET AL: "Autonomous Underwater Vehicle "Tri-Dog 1"", JOURNAL OF THE JAPAN INSTITUTE OF MARINE ENGINEERING, vol. 43, no. 4, 2008, pages 73 - 76, XP055604208
MAKI: "Maps for Underwater Vehicles", JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 33, no. 10, 2015, pages 766 - 772, XP055604215
Attorney, Agent or Firm:
KAICHI IP (JP)
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