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公开(公告)号：US08655022B2
公开(公告)日：2014-02-18
申请号：US12707091
申请日：2010-02-17
申请人： Ryosuke Kobayashi , Satoshi Okada , Masahiro Tooma , Yutaka Kometani , Yosuke Takatori , Mitsuru Odakura , Kojirou Kodaira
发明人： Ryosuke Kobayashi , Satoshi Okada , Masahiro Tooma , Yutaka Kometani , Yosuke Takatori , Mitsuru Odakura , Kojirou Kodaira
CPC分类号： G21C17/013 , G06T7/77 , G06T2207/30164 , G06T2207/30244 , G06T2207/30252
摘要： The position detection system includes a pressure sensor that detects the vertical position of an underwater vehicle, a range sensor unit that detects the relative distances of the underwater vehicle from its surrounding structures; a measurement image acquisition unit that acquires a measurement image of the horizontal plane, an image storage unit that stores images, an image selector that selects one of the stored images that corresponds to the horizontal plane in which the relative distances have been detected, a corresponding-area identification unit that identifies the area in the selected image that corresponds to the measurement image by performing map matching, and a horizontal position calculator that identifies, the pixel that corresponds to the position at which the relative distances have been detected and calculates the horizontal position of the underwater vehicle.
摘要翻译： 位置检测系统包括：检测水下航行器的垂直位置的压力传感器;检测水下航行器与其周围结构的相对距离的距离传感器单元; 获取水平面的测量图像的测量图像获取单元，存储图像的图像存储单元，选择与已经检测到相对距离的水平面相对应的存储图像之一的图像选择器，对应于 - 区域识别单元，其通过执行地图匹配来识别所选择的图像中与测量图像相对应的区域;以及水平位置计算器，其识别与已经检测到相对距离的位置相对应的像素并且计算水平 水下航行器的位置。
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公开(公告)号：US08370105B2
公开(公告)日：2013-02-05
申请号：US12457330
申请日：2009-06-08
CPC分类号： G01C21/165 , G21C17/013
摘要： A position detection system for an underwater inspection unit or vehicle improves the detection accuracy of the unit's position. The unit includes a pressure sensor for detecting its vertical position, and an inertial sensor for detecting its attitude angle. The unit also includes a range sensor unit for detecting relative distances relative to a neighboring structure A in several directions on substantially the same plane. A control unit computes a position of a detection direction plane of the range sensor unit based on the unit's detected vertical position and attitude angle, and a cross-sectional shape and position of the structure at the computed position of the detection direction plane. Additionally, the control unit computes the unit's relative position with respect to the structure's cross-sectional shape based on detection results by the range sensor unit, and computes the unit's horizontal position based on position information of the structure's cross-sectional shape.
摘要翻译： 用于水下检查单元或车辆的位置检测系统提高了单元位置的检测精度。 该单元包括用于检测其垂直位置的压力传感器和用于检测其姿态角的惯性传感器。 该单元还包括范围传感器单元，用于在基本上相同的平面上的几个方向上检测相对于相邻结构A的相对距离。 控制单元基于单元检测到的垂直位置和姿态角度计算距离传感器单元的检测方向平面的位置，以及该结构在检测方向平面的计算位置处的横截面形状和位置。 此外，控制单元基于距离传感器单元的检测结果，计算单元相对于结构的横截面形状的相对位置，并且基于结构的横截面形状的位置信息来计算单元的水平位置。
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公开(公告)号：US20090312980A1
公开(公告)日：2009-12-17
申请号：US12457330
申请日：2009-06-08
IPC分类号： G06F15/00
CPC分类号： G01C21/165 , G21C17/013
摘要： A position detection system for an underwater inspection unit (underwater vehicle) is capable of being improved in detection accuracy of its position.The underwater inspection unit 9 includes a pressure sensor 18 for detecting a vertical position of the unit, and an inertial sensor 19 for detecting an attitude angle of the unit. The underwater inspection unit 9 also includes a range sensor unit 23 for detecting relative distances with respect to neighboring structure A in a number of directions on substantially the same plane. A control unit 11 computes a position of a detection direction plane of the range sensor unit 23 on the basis of the vertical position and attitude angle of the underwater inspection unit 9 that have been detected by the pressure sensor 18 and the inertial sensor 19, respectively, and computes a cross-sectional shape and position of the structure at the computed position of the detection direction plane. Additionally, the control unit 11 computes a relative position of the underwater inspection unit 9 with respect to the cross-sectional shape of the structure, on the basis of detection results by the range sensor unit 23, and further computes a horizontal position of the underwater inspection unit 9, based on position information of the cross-sectional shape of the structure.
摘要翻译： 水下检查单元（水下航行器）的位置检测系统能够提高其位置的检测精度。 水下检查单元9包括用于检测单元的垂直位置的压力传感器18和用于检测单元的姿态角的惯性传感器19。 水下检查单元9还包括范围传感器单元23，用于在基本上相同的平面上沿多个方向检测相对于相邻结构A的相对距离。 控制单元11基于由压力传感器18和惯性传感器19检测到的水中检查单元9的垂直位置和姿态角度来计算距离传感器单元23的检测方向平面的位置 并且计算在所检测方向平面的计算位置处的结构的横截面形状和位置。 此外，控制单元11基于距离传感器单元23的检测结果来计算水下检查单元9相对于结构的横截面形状的相对位置，并且还计算水下的水平位置 检查单元9，基于结构的横截面形状的位置信息。
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4.发明申请公开(公告)号：US20110057646A1
公开(公告)日：2011-03-10
申请号：US12805833
申请日：2010-08-20
IPC分类号： G01B7/14
CPC分类号： G01B5/004
摘要： There is provided a position sensing apparatus when a non-orbital movable truck moves over a spherical surface, a cylindrical surface, or a flat surface, which is capable of position sensing even when, e.g., the non-orbital movable truck circumferentially moves over the spherical surface or the cylindrical surface to be hidden from the position sensing apparatus. A second linear encoder is disposed which includes a wire in a main body thereof to output an amount by which the wire is withdrawn as an encoder value. The tip of the wire of the second linear encoder is fixed to a position at the non-orbital movable truck to which the tip of the wire of a linear encoder is fixed. From an amount by which the wire of the linear encoder is withdrawn and the amount by which the wire of the second linear encoder is withdrawn, the position of the non-orbital movable truck is calculated in a calculation device.
摘要翻译： 当非轨道可移动的卡车在球面，圆柱形表面或平坦表面上移动时，提供了一种位置检测装置，即使在例如非轨道可动卡车周向地移动 球形表面或圆柱形表面被隐藏于位置检测装置。 布置第二线性编码器，其包括在其主体中的导线，以输出线作为编码器值取出的量。 第二线性编码器的线的尖端被固定到线性编码器的线的尖端固定到的非轨道可移动卡车的位置。 从线性编码器的线被抽出的量和第二线性编码器的线退出的量，在计算装置中计算非轨道式可移动车辆的位置。
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公开(公告)号：US08228058B2
公开(公告)日：2012-07-24
申请号：US12128316
申请日：2008-05-28
申请人： Akira Nishimizu , Hirofumi Ouchi , Yoshio Nonaka , Yosuke Takatori , Akihiro Taki , Makoto Senoo
发明人： Akira Nishimizu , Hirofumi Ouchi , Yoshio Nonaka , Yosuke Takatori , Akihiro Taki , Makoto Senoo
CPC分类号： G01N27/9033
摘要： Disclosed is an eddy current flaw detection probe that is capable of pressing itself against an inspection target whose curvature varies. A flaw sensor is configured by fastening a plurality of coils to a flexible substrate that faces the surface of the inspection target. A first elastic body is positioned opposite the inspection target for the flaw sensor, is obtained by stacking two or more elastic plates, and has an elastic coefficient that varies in a longitudinal direction. A second elastic body is a porous body positioned between the flexible substrate and the first elastic body. A pressure section is employed to press the first elastic body toward the inspection target.
摘要翻译： 本发明公开了一种涡流探伤探针，其能够将其自身压向弯曲变化的检查目标。 缺陷传感器通过将多个线圈紧固到面向检查对象表面的柔性基板来构造。 第一弹性体与用于缺陷传感器的检查对象物相对设置，通过堆叠两个或更多个弹性板获得，并且具有在纵向方向上变化的弹性系数。 第二弹性体是位于柔性基板和第一弹性体之间的多孔体。 使用压力部将第一弹性体朝向检查对象物按压。
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公开(公告)号：US20090009162A1
公开(公告)日：2009-01-08
申请号：US12128316
申请日：2008-05-28
申请人： Akira NISHIMIZU , Hirofumi Ouchi , Yoshio Nonaka , Yosuke Takatori , Akihiro Taki , Makoto Senoo
发明人： Akira NISHIMIZU , Hirofumi Ouchi , Yoshio Nonaka , Yosuke Takatori , Akihiro Taki , Makoto Senoo
IPC分类号： G01N27/90
CPC分类号： G01N27/9033
摘要： Disclosed is an eddy current flaw detection probe that is capable of pressing itself against an inspection target whose curvature varies. A flaw sensor is configured by fastening a plurality of coils to a flexible substrate that faces the surface of the inspection target. A first elastic body is positioned opposite the inspection target for the flaw sensor, is obtained by stacking two or more elastic plates, and has an elastic coefficient that varies in a longitudinal direction. A second elastic body is a porous body positioned between the flexible substrate and the first elastic body. A pressure section is employed to press the first elastic body toward the inspection target.
摘要翻译： 本发明公开了一种涡流探伤探针，其能够将其自身压向弯曲变化的检查目标。 缺陷传感器通过将多个线圈紧固到面向检查对象表面的柔性基板来构造。 第一弹性体与用于缺陷传感器的检查对象物相对设置，通过堆叠两个或更多个弹性板获得，并且具有在纵向方向上变化的弹性系数。 第二弹性体是位于柔性基板和第一弹性体之间的多孔体。 使用压力部将第一弹性体朝向检查对象物按压。
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