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Instrumentation for Detecting Translation and Rotation of Tunneling Machines during their Movements

Research Project

Project/Area Number 06555307
Research Category

Grant-in-Aid for Developmental Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field 資源開発工学
Research InstitutionMuroran Institute of Technology

Principal Investigator

SATO Kazuhiko  Muroran Institute of Technology Dept.Computer Science & Systems Engineering, Professor, 工学部, 教授 (30002009)

Co-Investigator(Kenkyū-buntansha) ITAKURA Kenichi  Muroran Institute of Technology Dept.Computer Science & Systems Engineering, Ass, 工学部, 助教授 (20168298)
Project Period (FY) 1994 – 1995
Project Status Completed (Fiscal Year 1995)
Budget Amount *help
¥4,700,000 (Direct Cost: ¥4,700,000)
Fiscal Year 1995: ¥1,100,000 (Direct Cost: ¥1,100,000)
Fiscal Year 1994: ¥3,600,000 (Direct Cost: ¥3,600,000)
Keywordsconstruction equipments / automatization / autonomous locomotion / simultaneous location of vehicle / laser ranger / CCD camera / レーザ・レンジャ / レーザ・レンジャー
Research Abstract

Detection of current location is one of key technologies to realize automatic positioning of a tunneling machine which is equipped with crawler for locomotion. In this research project, measuring systems for detecting translation and rotation of a tunneling machine have been developed.
Two sensory systems were devised to detect change in the attitude of a tunneling machine using commercially available sensors ; one consists of a gyroscopic angular velocity sensor and two accelerometers, and the other replaces accelerometers by a couple of clinometers. A new algorithm was developed to determain three dimensional rotation from the outputs from three sensors. The attitude of a tunneling machine is first defined by the generalized rotation matrix, then represented in terms of roll, pitch and yaw.
A laser ranger was employed to measure translation of a tunneling machine during its movement. The ranger consists of a laser emitter and a vision system. The emitter generates laser beam with a 650nm wavelength, and allows for the beam to point toward an arbitrary orientation. The vision system detect the laser beam spotted on a target by a CCD camera, and processes an image to locate the laser spot. The difference between two position vectors of the target from the machine that are measured before and after locomotion provides the translation of the vehicle.
In this research, laboratory experiments were carried out to confirm the function of two sensory systems for detecting rotation and a ranging system. The experiments have resulted in not only revealing the instrumentation for detecting translation and rotation of a vehicle, but validating new algorithm for calculating three dimensional translation and rotation.

Report

(3 results)
  • 1995 Annual Research Report   Final Research Report Summary
  • 1994 Annual Research Report
  • Research Products

    (4 results)

All Other

All Publications (4 results)

  • [Publications] 佐藤一彦 ほか: "機体の移動に伴う位置・姿勢変化量検知システム" 資源・素材学会誌. 112(投稿中). (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] K.Sato, K.Itakura and T.Usutani: "Instrumentation for detecting translation and rotation of mining equipments during their movements." Journal of the Mining and Material Processing Institute of Japan. Vol.112 (submitted). (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1995 Final Research Report Summary
  • [Publications] 佐藤一彦ほか: "機体の移動に伴う位置・姿勢変化量検知システム" 資源・素材学会誌. 112(投稿中). (1996)

    • Related Report
      1995 Annual Research Report
  • [Publications] 佐藤 一彦ほか: "機体移動に伴う位置・姿勢変化量の検出" 資源・素材学会誌. 112(発表予定). (1996)

    • Related Report
      1994 Annual Research Report

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Published: 1994-04-01   Modified: 2016-04-21  

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