WO2018078742A1 - Dispositif et procédé d'installation de terminal de capteur - Google Patents

Dispositif et procédé d'installation de terminal de capteur Download PDF

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Publication number
WO2018078742A1
WO2018078742A1 PCT/JP2016/081717 JP2016081717W WO2018078742A1 WO 2018078742 A1 WO2018078742 A1 WO 2018078742A1 JP 2016081717 W JP2016081717 W JP 2016081717W WO 2018078742 A1 WO2018078742 A1 WO 2018078742A1
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WIPO (PCT)
Prior art keywords
sensor terminal
installation
area
unit
determination unit
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PCT/JP2016/081717
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English (en)
Japanese (ja)
Inventor
悠介 森脇
前木　陽
荒澤　伸幸
光一 寺田
健二 藤平
Original Assignee
株式会社日立製作所
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Application filed by 株式会社日立製作所 filed Critical 株式会社日立製作所
Priority to PCT/JP2016/081717 priority Critical patent/WO2018078742A1/fr
Publication of WO2018078742A1 publication Critical patent/WO2018078742A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/16—Receiving elements for seismic signals; Arrangements or adaptations of receiving elements
    • G01V1/20—Arrangements of receiving elements, e.g. geophone pattern

Definitions

  • the present invention relates to a technique for installing a sensor terminal for seismic exploration.
  • Sensor terminals such as geophones and MEMS sensors are used for seismic exploration.
  • the number of sensor terminals used for seismic exploration is increasing in order to grasp the state of strata and resources with higher accuracy.
  • exploration using hundreds of thousands to millions of sensor terminals is expected. Therefore, automation of installation of sensor terminals is required.
  • Patent Document 1 discloses an apparatus for installing a sensor terminal.
  • the installer When installing sensor terminals one by one with human hands, the installer can visually check for obstacles existing on the ground surface, or reaction force transmitted from the soil when digging holes for sensor installation by hand. It is judged whether the sensor terminal can be installed in a normal state by confirming the hardness of the soil.
  • the installation device When automating the installation of sensor terminals, the installation device needs a function to replace them. Without such a function, the accuracy of the sensor terminal installation posture and the coupling state will vary, and the signal quality obtained from the sensor terminal will deteriorate, or the sensor terminal can only be installed under limited conditions. Problems occur.
  • Patent Document 1 installs a sensor terminal without checking the soil environment. Therefore, depending on the environment of the soil such as obstacles and geology, the sensor terminal can not be installed normally, re-installation will reduce the throughput of installation, shorten the life of the cultivation mechanism to maintain the soil, There is a possibility that the accuracy of the installation posture is lowered.
  • the present invention is to provide a technology that enables normal installation of sensor terminals in various soil environments.
  • a sensor terminal installation device that installs a sensor terminal for measuring vibration, wherein the sensor terminal is moved and installed at a predetermined installation position; and And a determination unit that determines whether the sensor terminal can be normally installed or whether the sensor terminal is normally installed at the predetermined position.
  • the present invention it is possible to ensure that the sensor terminal is normally installed by checking before installation or after installation, so that the sensor terminal can be normally installed in various soil environments.
  • FIG. 1 It is a block diagram which shows the basic composition of the sensor terminal installation apparatus by this embodiment. It is the schematic of the sensor terminal installation apparatus by Example 1.
  • FIG. 2 is a flowchart which shows the operation
  • 6 is a diagram illustrating an example of an image captured by the imaging unit 4 in Embodiment 1.
  • FIG. It is the schematic of the sensor terminal installation apparatus in Example 2.
  • FIG. 10 is a diagram illustrating an example of an image photographed by the photographing unit 4 in the third embodiment. It is the schematic of the sensor terminal installation apparatus in Example 4.
  • FIG. It is a flowchart which shows the operation
  • FIG. It is a figure which shows an example of the unevenness
  • FIG. It is a flowchart which shows the operation
  • FIG. It is a flowchart which shows the operation
  • FIG. It is a flowchart which shows the operation
  • FIG. 1 is a block diagram showing a basic configuration of a sensor terminal installation apparatus according to the present embodiment.
  • the center terminal installation device 90 is a device that installs a sensor terminal for measuring elastic wave vibration on the ground or in the ground.
  • the sensor terminal installation device 90 includes a determination unit 91, an installation unit 92, a notification unit 93, a cultivation unit 94, and a recording unit 95.
  • the installation unit 92 moves the sensor terminal and installs it at a predetermined installation position.
  • the determination unit 91 determines whether the sensor terminal can be normally installed at the installation position, or whether the sensor terminal is normally installed at the predetermined position. According to this, it is possible to ensure that the sensor terminal is normally installed by checking before installation or after installation, so that the sensor terminal can be normally installed in various soil environments.
  • the determination unit 91 may determine an installable area where the sensor terminal can be installed, and the installation unit 92 may move and install the sensor terminal to the installable area. Since the sensor terminal is installed after confirming the position where it can be installed, the sensor terminal can be normally installed in various soil environments.
  • the notification unit 93 notifies the operator of the completion of installation when the installation unit 92 installs the sensor terminal, and notifies the operator that the installation is impossible when the determination unit 91 cannot find the installation possible area. Since the operator can be notified of the completion of installation or the installation is impossible, the operator can normally install the sensor terminal in an area having a good soil environment by relying on the notification.
  • the cultivating section 94 cultivates the ground so that the sensor terminal can be installed. If there is no installable region, the determination unit 91 finds an improveable region that can be improved so that the sensor terminal can be installed by cultivation, and causes the cultivation unit 94 to cultivate the improveable region. Install the sensor terminal in the area that can be improved after cultivation. Even if there is no installable area, it is possible to cultivate the improveable area and install the sensor terminal, so that the sensor terminal can be normally installed by searching for or creating a good soil environment.
  • the determination unit 91 captures an image of the ground, estimates an installable region based on the image, measures the hardness of the ground in the region estimated as the installable region, and if the hardness is equal to or less than a predetermined threshold value. For example, the estimated area is determined as the installable area. Since the installable area is determined based on the ground image and the hardness measurement, the area where the sensor terminal can be installed can be selected more reliably.
  • the determination unit 91 causes the cultivation unit 94 to cultivate the estimated area, and the installation unit 92 estimates the sensor terminal. Let the area install. Even in an area where the installation seemed possible on the image, but the hardness of the ground is hard and the sensor terminal cannot be installed, it can be cultivated and improved, and the sensor terminal can be installed.
  • the determination unit 91 captures an image of the ground, estimates an installable area based on the image, measures the flatness of the ground in the area estimated as the installable area, and determines the flatness. If is more than a predetermined threshold value, the estimated area may be determined as the installable area. Since the installable area is determined based on the ground image and the flatness measurement, it is possible to select an area in which the sensor terminal can be installed more reliably.
  • the installation unit 92 installs the sensor terminal at a predetermined position, and the determination unit 91 determines whether or not the installed sensor terminal is normally installed. If not installed, the installation unit 91 may improve the installation of the sensor terminal. The determination of whether or not the installation is normal may be made based on whether or not a predetermined normal installation condition is satisfied. For normal installation conditions, as an example, if vibration is applied to the ground near the sensor terminal and the elastic wave vibration measured at the sensor terminal exceeds a predetermined threshold, it is determined that the normal installation condition is satisfied. Good. For example, the improvement of the installation is to push the installed sensor terminal again to improve the installation state. As another example of improving the installation, the installed sensor terminal may be picked up and installed again. In that case, the installation unit 91 may be provided with a mechanism for picking up the installed sensor terminal and installing it again. Since the installation is improved if the sensor terminal is not normally installed, the sensor terminal can be normally installed in various soil environments.
  • the determination unit 91 applies vibration to the ground having a predetermined positional relationship with the installed sensor terminal, acquires the value of elastic wave vibration measured by the sensor terminal, and based on the elastic wave vibration, It may be determined whether or not the terminal is normally installed. Since vibration is applied and measured with a sensor terminal, it is determined from the obtained value whether the sensor terminal is normally installed. Therefore, whether the sensor terminal is normally installed in various soil environments is determined. Appropriate judgment can be made after the fact.
  • the determination unit 91 may correct the installation state of the sensor terminal when the elastic wave vibration measured by the sensor terminal is less than a predetermined threshold.
  • the modification of the installation state is to push the installed sensor terminal again. Since the installation state is corrected and the elastic wave vibration is measured again, the sensor terminal can be normally installed in various soil environments.
  • the recording unit 95 records identification information that uniquely identifies the installed sensor terminal and position information of the position where the sensor terminal is installed in association with each other. Since the information of the installed sensor terminal can be acquired and stored using the function of the device for installing the sensor terminal, the information of the sensor terminal can be easily stored.
  • the installation unit 92 and the determination unit 91 are vehicles that can travel independently, and when the installation unit 92 is installing a certain sensor terminal, the determination unit 91 executes a determination regarding another sensor terminal. It may be. Since installation of a certain sensor terminal and determination regarding another sensor terminal can be performed in parallel, work can be efficiently performed when a plurality of sensor terminals are installed.
  • Example 1 is an example in which the position where a sensor terminal is installed is determined using image processing, and the sensor terminal installation device 90 moves by automatic operation to install the sensor terminal.
  • FIG. 2 is a schematic diagram of the sensor terminal installation apparatus according to the first embodiment.
  • the sensor terminal installation device 90 is a device that installs the sensor terminal 5 in the ground or on the ground surface.
  • the sensor terminal installation device 90 includes a vehicle 1, an automatic vehicle driving device 2, an installation sequence determination unit 3, a photographing unit 4, a push-in mechanism 6, and a robot arm 7.
  • the vehicle 1, the automatic vehicle driving device 2, the pushing mechanism 6, and the robot arm 7 correspond to the installation unit 92 described above, and the installation sequence determination unit 3 and the imaging unit 4 correspond to the determination unit 91 described above.
  • the vehicle 1 is driven by a power unit (not shown), and can be moved by the automatic vehicle driving device 2 based on information on a predetermined installation position of the sensor terminal 5 and a traveling pattern.
  • the automatic vehicle driving device 2 is equipped with a position detection function such as GPS for grasping the position of the vehicle 1, and the automatic vehicle driving device 2 moves the vehicle 1 to a target position based on the detected position information.
  • the sensor terminal 5 is equipped with a sensor that detects at least one axis of acceleration and velocity and a peripheral circuit that drives them, and can detect vibrations and shocks in the ground and on the ground. Seismic exploration may only detect vibrations and shocks in the vertical direction (Z-axis) with respect to the ground surface, but when detecting the tilt direction of the vibration and sensor terminal posture (tilt), the horizontal direction (X-axis, Y-axis) ) Vibration and shock can be detected.
  • the installation sequence determination unit 3 is connected to the automatic vehicle driving device 2, the photographing unit 4, the push-in mechanism 6, and the robot arm 7 so that the installation sequence for installing the sensor terminal 5 can be determined. Further, the installation sequence determination unit 3 has a transmission means for transmitting a signal to a wireless communication unit (not shown) corresponding to the notification unit 93 and can notify the remote operator of the state of the installation sequence.
  • the installation sequence determination unit 3 determines an installation sequence for appropriately installing the sensor terminal 5 using the soil image information acquired by the photographing unit 4, and the automatic vehicle driving device 2, push-in along the installation sequence Commands are given to the mechanism 6 and the robot arm 7, respectively.
  • the image capturing unit 4 is an apparatus that captures an image by being arranged vertically downward of the soil or at an angle that includes the ground surface within the image capturing field angle.
  • the imaging unit 4 has an object of acquiring a ground obstacle that obstructs the installation of the sensor terminal 5 and a concave surface such as a hole. For this reason, the imaging unit 4 only needs to have a resolution that allows the obstacle to be detected.
  • photography part 4 may have the resolution which makes it possible to see the particle shape of soil. Thereby, it is also possible to estimate the hardness of the soil.
  • the photographing unit 4 may irradiate the ground surface with a light source (not shown) to increase the brightness of the image and the edge detection accuracy of the obstacle.
  • the photographing unit 4 may include a shielding wall (not shown) in order to keep the photographing condition constant, and may shield light from the outside to the portion where the soil is photographed.
  • the robot arm 7 has a transfer function of moving the sensor terminal 5 to the coordinate position commanded from the installation sequence determination unit 3.
  • the robot arm 7 can position the sensor terminal 5 with higher accuracy than the movement of the sensor terminal 5 due to the movement of the vehicle 1.
  • the automatic vehicle driving device 2 can replace the function of the robot arm 7.
  • the robot arm 7 includes a terminal holding portion 7a, an arm 7b, and an actuator 7c.
  • the power source of the actuator 7c may be hydraulic, pneumatic, or electric. It is desirable that the drive shaft of the actuator 7c can be driven in a total of three axes, one vertical axis and two horizontal axes.
  • the stroke length of the drive shaft is desirably a length that allows the sensor terminal 5 to move to arbitrary coordinates within the range of an image that can be acquired by the imaging unit 4.
  • the actuator 7c is driven by a driver or a control unit (not shown).
  • the container unit 9 has a space where a plurality of sensor terminals 5 can be mounted, and the sensor terminal 5 mounted on the container unit 9 is moved to the commanded coordinates on the ground surface by the robot arm 7.
  • the pushing mechanism 6 is a mechanism for embedding the sensor terminal 5 in the ground by applying a load or impact in the pushing direction to the sensor terminal 5 as a pushing operation. It is desirable that the drive shaft of the actuator of the push-in mechanism 6 can control the tilt direction according to the inclination of the ground. It is desirable that the pushing force required for the actuator is larger than the necessary pushing force calculated from the hardness of the soil, the shape of the sensor terminal 5, and the like. However, the pushing force should not be larger than the load resistance or impact resistance of the sensor terminal 5.
  • the pushing operation of the pushing mechanism 6 may be performed by driving the robot arm 7. However, in that case, in order to obtain a desired pushing force, a force stronger than the force necessary for transporting the sensor is required, and a large actuator is required.
  • the actuator 7c of the robot arm 7 controls the stroke amount and position
  • the force and stroke amount required for each actuator can be individually designed.
  • the actuators separately it is possible to easily perform the impact in such a state that the tip of the sensor terminal 5 is in contact with the soil. It becomes possible to efficiently crush hard soil that has been compacted.
  • the push mechanism 6 may be provided with a tilt mechanism that adjusts the angle, and the tilt mechanism may be used to adjust the angle of the push mechanism 6.
  • the command value of the tilt angle may be calculated from the tilt angle of the vehicle 1 by mounting a level meter on the vehicle 1.
  • the acceleration detection means mounted on the sensor terminal 5 installed by the sensor terminal installation apparatus 90 having the above-described configuration it is desirable to use a MEMS (Micro Electrical Mechanical System) capable of detecting vibration with stable performance.
  • MEMS Micro Electrical Mechanical System
  • a geophone that mechanically captures vibration with a coil and a magnet may be used.
  • the horizontal movement of the sensor terminal 5 to the position where the sensor terminal 5 is installed is performed by coarse movement due to movement of the vehicle 1 and fine movement by the robot arm 7.
  • the vehicle 1 may be moved to a position where the vehicle is installed by moving the vehicle 1 under the control of the automatic vehicle driving device 2. In that case, the positioning accuracy of the movement of the vehicle 1 may be equal to the positioning accuracy of the robot arm 7.
  • FIG. 3 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the first embodiment.
  • the flowchart of FIG. 3 shows the process from installing one sensor terminal 5 to installing the next sensor terminal 5 in the process of installing a plurality of sensor terminals 5.
  • the sensor terminal installation device 90 determines a position (hereinafter referred to as “target position”) as a candidate for installing the sensor terminal 5 based on GPS information, information on a traveling pattern set in advance, or the like by the installation sequence determination unit 3. (Step 101).
  • the target position is preferably a predetermined position that is not far away from the position where the vehicle 1 is currently located.
  • the map may be divided into a plurality of unit areas that are large enough to obtain an image by the photographing unit 4 in a vertical and horizontal mesh, and in step 101, the area adjacent to the current area may be set as the target position.
  • the sensor terminal installation device 90 is automatically driven by the vehicle automatic driving device 2 and moves the vehicle 1 to the target position (step 102). Moreover, what is necessary is just to move the vehicle 1 within the range of the error accept
  • the sensor terminal installation device 90 uses the photographing unit 4 to acquire an image of the soil used for examining the soil state (step 103). Furthermore, the sensor terminal installation device 90 detects an area free from obstacles such as stones and holes by analyzing the acquired image in the installation sequence determination unit 3 (step 104).
  • the sensor terminal installation apparatus 90 determines whether or not there is an installable area by the installation sequence determination unit 3 (step 105). At that time, when the sensor terminal 5 is installed in an area free of obstacles, if there is an area larger than the area of the soil that the sensor terminal 5 contacts, that area is set as an installable area.
  • the sensor terminal installation device 90 causes the installation sequence determination unit 3 to install coordinates (hereinafter referred to as “installation coordinates”) for installing the sensor terminal 5 in the installable area. Furthermore, the sensor terminal installation device 90 moves the sensor terminal 5 to the installation coordinates by the robot arm 7 (step 107). Subsequently, the sensor terminal installation device 90 pushes the installed sensor terminal 5 into the ground by the pushing mechanism 6 (step 108). The sensor terminal 5 may be pushed by the robot arm 7 instead of the pushing mechanism 6.
  • the sensor terminal installation device 90 proceeds to a process for installing the next sensor terminal 5.
  • the sensor terminal installation device 90 may record the coordinates of the position where the sensor terminal 5 is installed in association with the terminal ID of the center terminal 5.
  • the center terminal installation device 90 can calculate the position where the center terminal 5 is installed based on the position information of the vehicle 1 and the relative position information of the robot arm 7 with respect to the vehicle 1.
  • the sensor terminal installation device 90 causes the installation sequence determination unit 3 to store the coordinate range included in the image as an installation additional area (step 109).
  • the information on the installation impossible area is accumulated in the installation sequence determination unit 3.
  • the sensor terminal installation device 90 determines whether or not there is an area that has not yet been searched for an installable area within a range (hereinafter referred to as “search range”) that is predetermined as a range for searching for an installable area. (Step 110). For example, it is only necessary to determine whether or not the search of all the unit areas included in the search range has been completed by setting the above-described unit area to a range of 3 ⁇ 3 in the search range.
  • the sensor terminal installation device 90 causes the installation sequence determination unit 3 to return to step 101 and move the vehicle 1 to the unsearched unit area. On the other hand, if there is no unsearched unit area in the search range, the sensor terminal installation device 90 causes the installation sequence determination unit 3 to stop the sensor terminal installation device 90 and send an alert to a remote operator (step) 111), the process is terminated.
  • FIG. 4 is a diagram illustrating an example of an image photographed by the photographing unit 4 in the first embodiment. An image acquired from the imaging unit 4 will be described with reference to FIG.
  • the purpose of photographing an image with the photographing unit 4 is to detect an area without obstacles or irregularities in the soil.
  • the image acquired by the imaging unit 4 is required to have a resolution that can detect the rock 8a, the pebbles 8b, and the hole 8c regardless of the size.
  • the range of soil from which an image can be acquired, the resolution for detecting the size of the obstacle 8, and the like vary depending on the height at which the camera of the photographing unit 4 is installed. What is necessary is just to determine the height of a camera with the performance of the imaging
  • the sensor terminal installation device 90 installs the area without the obstacle 8. A possible area 11 is assumed. The sensor terminal installation device 90 determines the horizontal coordinate of the installable area 11 in the area where the image is acquired by the imaging unit 4, and moves the sensor terminal 5 using the robot arm 7 using the horizontal coordinate as a command value. .
  • the vehicle automatic driving device 2 automatically drives the vehicle 1
  • the present invention is not limited to this.
  • the driver may drive the vehicle 1 instead of the automatic vehicle driving device 2 and move it to the target position.
  • a driving device may be provided remotely, connected to the vehicle 1 by wireless communication, and the operator may drive the vehicle 1 by a remote operation.
  • the sensor terminal 5 when the sensor terminal 5 is automatically installed, even if there is an obstacle 8 in the soil, the sensor terminal 5 can be appropriately installed avoiding the obstacle 8. . Moreover, when trying to install the sensor terminal 5 in the soil with many obstacles 8, it can notify a remote operator with an alert early that it is difficult to install. As a result, the operator can take an appropriate measure against the obstacle 8 at an early stage.
  • Example 2 shows an example in which the operator operates the sensor terminal installation device 90 and moves the sensor terminal 5 to a position where the sensor terminal 5 is installed, instead of automatic driving.
  • the parts denoted by the same reference numerals as those in the first embodiment are the same as those in the first embodiment, and thus the description thereof will be omitted, and the parts unique to the second embodiment will be mainly described.
  • FIG. 5 is a schematic diagram of the sensor terminal installation apparatus according to the second embodiment.
  • the sensor terminal installation device 90 shown in FIG. 5 includes the vehicle cab 16, the vehicle operation unit 15, the alert notification unit 13, and the terminal installation operation panel 14 in place of the automatic vehicle driving device 2, in the implementation shown in FIG. Different from Example 1.
  • the vehicle operation unit 15 and the terminal installation operation panel 14 are included in the installation unit 92 in FIG. 1, and the alert notification unit 13 corresponds to the notification unit 93.
  • the vehicle 1 is driven by the operator using the vehicle operation unit 15 in the vehicle cab 16 instead of the vehicle automatic driving device 2.
  • the alert notification unit 13 and the terminal installation operation panel 14 are connected to the installation sequence determination unit 3 and transmit / receive predetermined information according to the progress of the installation sequence. For example, the operator knows information notified from the installation sequence determination unit 3 to the alert notification unit 13, and the operator drives the vehicle 1 using the vehicle operation unit 15 based on the information, and the terminal installation operation panel 14 is used to install the sensor terminal 5.
  • the alert notification unit 13 As a means for the alert notification unit 13 to notify the operator of an alert, for example, a visual display device such as a lamp or an LED panel is preferable. However, an audible notification means such as a buzzer can also be used.
  • the vehicle operation unit 15 and the terminal installation operation panel 14 may be operable from a remote place by an operator.
  • a device that performs mutual communication with a remote system (not shown) operated by an operator is used as the sensor terminal installation device 90.
  • FIG. 6 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation device according to the second embodiment.
  • the processing of the second embodiment shown in FIG. 6 differs from the processing of the first embodiment shown in FIG. 3 in that the vehicle 1 is moved to the target position by the operator's operation (step 201), set by the operator's command There is a process for starting the sequence (step 202) and a process for notifying the operator that the installation of the sensor terminal 5 has been completed (step 203).
  • the flowchart of FIG. 6 shows a sequence from the installation of one sensor terminal 5 to the installation of the next sensor terminal 5 in the process of installing a plurality of sensor terminals 5 as in the first embodiment. .
  • sensor terminal installation apparatus 90 moves vehicle 1 to the target position by driving using the vehicle operation unit 15 of the operator (step 101). Step 201). Thereafter, when the operator operates the terminal installation operation panel 14, the sensor terminal installation device 90 issues an instruction to start the installation sequence (step 202).
  • the sensor terminal installation device 90 acquires an image of soil using the photographing unit 4 (step 103) and calculates a region where the sensor terminal 5 can be installed, as in the first embodiment. (Step 104). Further, as in the first embodiment, the sensor terminal installation device 90 determines whether there is an installable area (step 105). If there is an installable area, the sensor terminal 5 moves (steps 106 to 107) and pushes in. The sensor terminal 5 is installed by operation (step 108).
  • Example 2 after the sensor terminal 5 is installed, the sensor terminal installation device 90 notifies the operator that the installation of the sensor terminal 5 is completed by the alert notification unit 13 (203).
  • step 105 When it is determined in step 105 that there is no installable area, the sensor terminal installation device 90 notifies the operator that the installation is impossible by the alert notification unit 13 (step 204).
  • the operator can easily install the sensor terminal 5 while avoiding obstacles. Further, by notifying the operator whether or not the sensor terminal 5 can be installed, an early countermeasure can be taken.
  • Example 3 shows an example in which the soil can be cultivated and improved, and the sensor terminal 5 can be installed.
  • the parts denoted by the same reference numerals as those in the first and second embodiments are the same as those in the first and second embodiments, so that the description thereof will be omitted, and the parts unique to the third embodiment will be mainly described.
  • FIG. 7 is a schematic diagram of the sensor terminal installation apparatus according to the third embodiment.
  • the sensor terminal installation device 90 shown in FIG. 7 is different from that of the first embodiment shown in FIG.
  • the cultivation mechanism 17 corresponds to the cultivation unit 94 of FIG.
  • the cultivation mechanism 17 has a cultivation part 17a, a vertical movement mechanism 17b, and a horizontal movement mechanism (not shown).
  • the cultivation part 17a is a hammer drill as an example, and not only rotates but also can be subjected to vertical vibration.
  • the area of the soil that can be excavated by the hammer drill is preferably equal to the bottom area of the portion of the sensor terminal 5 entering the ground.
  • the amount of stroke that the cultivating part 17a can move up and down is determined by the up and down movement mechanism 17b.
  • the stroke amount may be determined based on the height of the vertical movement mechanism 17b from the ground, the total vertical length of the sensor terminal 5, and the depth to be buried in the ground. Further, the stroke amount and the movable range of the horizontal movement mechanism are preferably equal to those of the robot arm 7.
  • FIG. 8 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the third embodiment.
  • the processing of the third embodiment shown in FIG. 8 is different from the processing shown in FIG. 3 and FIG. 6, the processing for calculating the coordinates of the position where the small obstacle is located (step 301), and the processing for determining the improvement possible region ( Step 302) and a process of cultivating the soil (Step 303).
  • steps 101 to 105 are the same as those in the first embodiment. If it is determined in step 105 that there is no installable area, the sensor terminal installation device 90 is not currently an installable area by the installation sequence determination unit 3 in this embodiment. Based on the above, a region where the obstacle 8 is small is calculated (step 301). The size of the obstacle 8 is calculated from the image, and a region without the obstacle 8 having a size exceeding the threshold may be extracted.
  • the obstacle 8 showing an area smaller than the size of the bottom area of the cultivation unit 17 is defined as a small obstacle.
  • the sensor terminal installation device 90 determines whether there is an improvement possible region.
  • the area that can be improved is an area that can be improved to an installable area by farming. For example, a region where the obstacle 8 is small may be set as a region that can be improved.
  • the sensor terminal installation apparatus 90 uses the cultivation mechanism 17 to cultivate the soil in the area that can be improved (step 303). Subsequently, the sensor terminal installation device 90 proceeds to step 106 and determines installation coordinates. After that, as in the first embodiment, the sensor terminal 5 is moved to the installation coordinates and installed (step 107), and the installation is completed by pushing it into the ground (step 108).
  • step 302 If the improvement possible area cannot be detected in step 302, the sensor terminal installation device 90 proceeds to step 109. Subsequent processing is the same as in the first embodiment.
  • FIG. 9 is a diagram illustrating an example of an image photographed by the photographing unit 4 in the third embodiment. An image acquired from the imaging unit 4 will be described with reference to FIG.
  • the hammer drill is illustrated as the cultivation mechanism 17 in this embodiment as described above, the present invention is not limited to this.
  • obstacles such as pebbles 8 may be removed using a rake or a fence.
  • the area having only a small obstacle such as the pebbles 8 b can be improved to the installable area.
  • the possibility that it can be installed can be increased.
  • in order to determine the position to be excavated by the cultivation mechanism 17 from the image of the soil it is possible to prevent excavation of a region with a large obstacle such as the hard rock 8a to wear or destroy the cultivation unit 17a. it can.
  • the sensor terminal 5 can be changed to a soil where the sensor terminal 5 can be easily installed. Therefore, the actuator of the pushing mechanism 6 can be reduced in size.
  • Example 4 shows an example in which not only the soil image but also the soil hardness is measured and used to determine the position where the sensor terminal is installed.
  • the parts denoted by the same reference numerals as those in the first to third embodiments are the same as those in the first to third embodiments. Therefore, the description thereof will be omitted, and the parts peculiar to the fourth embodiment will be mainly described.
  • FIG. 10 is a schematic diagram of the sensor terminal installation apparatus according to the fourth embodiment.
  • the soil hardness meter 19 is a device for measuring the hardness of the soil.
  • the soil hardness meter 19 is a penetrating soil hardness meter.
  • the penetrating portion 19a, the vertical movement mechanism 19b, and soil hardness information (not shown) are input to the installation sequence determining portion 3. It has a transmission part to transmit.
  • the soil altimeter 19 measures the hardness of the soil by sliding the penetration portion 19a up and down and inserting it into the soil using the vertical movement mechanism 19b.
  • the depth in which the obstacle terminal 8 can be detected in the ground is determined by the depth of the penetration portion 19a buried in the ground, and the depth of the penetration portion 9a is determined by the shape of the penetration portion 9a.
  • the shape of the penetration part 19a may be determined according to the above.
  • the soil hardness can be estimated based on the relationship between the pushing force and the stroke amount when the sensor terminal 5 is pushed by the pushing mechanism 6. For example, when the stroke amount of the push-in mechanism 6 is small with respect to the commanded push-in force, it is determined that the soil hardness is high or the obstacle 8 exists in the ground. In that case, the sensor terminal installation apparatus 90 should just transfer to another installation sequence.
  • FIG. 11 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation device according to the fourth embodiment.
  • the processing of Example 4 shown in FIG. 11 differs from the processing shown in FIG. 3, FIG. 6 or FIG. 8 in the processing of measuring the soil hardness by the soil hardness meter 19 (step 401), and the hardness is set to a predetermined value.
  • This is a process for determining whether or not the value is equal to or less than the value (step 402).
  • This predetermined set value is a threshold value for determining whether the hardness of the soil can push the sensor terminal 5 into the ground by the pushing mechanism 6.
  • the sensor terminal installation device 90 measures the soil hardness with the soil hardness meter 19 in the area where it is determined in step 105 that the sensor terminal 5 can be installed based on the soil image (step 401). . Furthermore, the sensor terminal installation device 90 determines whether or not the measured soil hardness is equal to or lower than a predetermined set value by the installation sequence determination unit 3 (step 402).
  • the sensor terminal installation device 90 determines that the sensor terminal 5 can be installed in the region, and the process proceeds to Step 106. Transition.
  • the processing after step 106 is the same as that in the first embodiment.
  • the sensor terminal installation device 90 installs the sensor terminal 5 in that region. If it is determined that it cannot be performed, the process proceeds to step 109.
  • the processing after step 109 is the same as that in the first embodiment.
  • the present invention is not limited to this.
  • the soil hardness range in which the sensor terminal 5 can be installed is set according to the cultivation capability of the cultivation mechanism, and if the measured value of the soil hardness is within the range, the soil is improved using the cultivation mechanism. If the measured value is out of the range, the sensor terminal 5 may be installed in another area.
  • the present embodiment it becomes possible to detect hard soil and obstacles in the ground, and there is an effect that the sensor terminal 5 can be installed avoiding the hard soil and obstacles in the ground. Thereby, it is possible to reduce the failure of the sensor terminal 5 by pushing the hard soil or the obstacle in the ground and promoting the wear of the cultivation mechanism.
  • Example 5 shows an example in which the position where the sensor terminal is installed is determined using not only the planar image of the soil but also information on the unevenness of the soil.
  • the parts denoted by the same reference numerals as those in the first to fourth embodiments are the same as those in the first to fourth embodiments, and thus the description thereof will be omitted.
  • the parts peculiar to the fifth embodiment will be mainly described.
  • FIG. 12 is a schematic diagram of a sensor terminal installation apparatus according to the fifth embodiment.
  • the distance sensor 20 is, for example, an ultrasonic type or laser type rangefinder. It is desirable to be able to obtain distance information on a two-dimensional surface such as a band laser that irradiates a band-shaped laser beam. As another example, a stereo camera may be used for the photographing unit 4 to enable measurement of the distance to the ground.
  • the distance sensor 20 is disposed downward so that the distance to the ground in the vertical direction can be measured.
  • FIG. 13 is a diagram illustrating an example of unevenness of the ground calculated from information acquired by the distance sensor 20 in the fifth embodiment.
  • the distance sensor 20 measures the distance in the vertical direction.
  • the sensor terminal installation device 90 can calculate the uneven shape of the soil based on the distance information measured by the distance sensor 20. For example, the distance sensor 20 measures the distance from the distance sensor 20 to the ground in the soil as shown in FIG.
  • the sensor terminal installation device 90 can calculate the uneven shape of the soil having a cross-sectional shape as shown in FIG.
  • the sensor terminal installation device 90 classifies the region where the uneven shape is calculated by the installation sequence determination unit 3 into the uneven surface 31, the inclined surface 32, and the horizontal surface 33.
  • the horizontal plane 33 can be determined as the installable area. In that case, the uneven surface 31 and the inclined surface 32 are determined as an installation impossible area.
  • the installation sequence determination unit 3 uses the inclination angle of the slope where the sensor terminal 5 can be installed as a threshold value, and if the ground inclination exceeds the threshold value, determines the ground surface as the inclined surface 32, If the slope of is less than or equal to the threshold, the ground is determined as the horizontal plane 33.
  • a uniaxial distance sensor 20 may be used.
  • two-dimensional distance information may be obtained by causing the distance sensor 20 to stroke a plurality of times in the horizontal direction using a horizontal movement mechanism or the like.
  • a plurality of uniaxial distance sensors 20 may be provided, and a plurality of distances may be measured simultaneously.
  • FIG. 14 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the fifth embodiment. 14 is a process in which the distance sensor 20 measures the height from the ground to the distance sensor 20 as a part different from the process shown in FIG. 3, FIG. 6, FIG. 8, or FIG. 501) and processing for determining whether or not the ground on which the sensor terminal 5 is installed is horizontal (step 502).
  • the sensor terminal installation device 90 further increases the height from the ground to the distance sensor 20 by the distance sensor 20 in the area where it is determined in step 105 that the sensor terminal 5 can be installed based on the soil image. Is measured (step 501).
  • the sensor terminal installation device 90 divides the range in which the height is measured by the installation sequence determination unit 3 on the basis of the measured height information into each of the uneven surface 31, the inclined surface 32, and the horizontal surface 33. Then, it is determined whether or not there is a horizontal surface 33 on which the sensor terminal 5 can be installed (step 502).
  • the sensor terminal installation device 90 proceeds to step 106 and determines the position where the sensor terminal 5 is installed in the horizontal plane 33 as an installable region.
  • the subsequent processing is the same as in the first embodiment. If there is not a sufficient horizontal surface 33 for installing the sensor terminal 5 in step 502, the sensor terminal installation device 90 proceeds to step 109.
  • the subsequent processing is the same as in the first embodiment.
  • the place where the sensor terminal 5 is installed is determined in consideration of the unevenness and the inclination of the soil that cannot be understood only by the planar image. can do.
  • Example 6 shows an example in which it is determined whether or not the sensor terminal is successfully installed, and the push-in is repeated.
  • the parts denoted by the same reference numerals as those in the first to fifth embodiments are the same as those in the first to fifth embodiments, so that the description thereof will be omitted and the parts unique to the sixth embodiment will be mainly described.
  • FIG. 15 is a schematic diagram of the sensor terminal installation apparatus according to the sixth embodiment.
  • the components different from those of the first to fifth embodiments in the sensor terminal installation device 90 of the sixth embodiment shown in FIG. 15 are a vibration device 21, a receiver 23, and an installation determination unit 24.
  • the sensor terminal 5 includes a transmitter 22 that transmits information of measurement values.
  • the vibration device 21 is a device that receives vibration from the installation sequence determination unit 3 and applies vibration to the soil.
  • the vibration device 21 includes a vertical movement mechanism that generates vibration in the vertical direction. At the time of vibration, the tip of the vibration device 21 is brought into contact with the soil, and the tip is vibrated by the vertical movement mechanism based on a command from the installation sequence determination unit 3 to vibrate the ground.
  • the vibration device 21 can apply vibration of an arbitrary frequency to the ground. It is desirable that the vibration applied to the ground after installing the sensor terminal 5 is a frequency band used for actual seismic exploration.
  • the power of the vibration device 21 is a hydraulic linear actuator. However, it is not limited to that.
  • an electric rotary motor in which an eccentric load is installed on the rotary shaft may be the power of the vibration device 21.
  • the vibration applied to the ground is detected by the sensor terminal 5, converted into an electrical signal indicating vibration information, and sent out.
  • the sensor terminal 5 is provided with a transmitter 22.
  • the sensor terminal 5 that has detected the vibration outputs an electrical signal indicating vibration information as an example from the transmitter 2 by radio waves.
  • the electrical signal of the vibration information is received by the receiver 23, and the vibration information is transmitted to the installation determination unit 24.
  • the installation determination unit 24 determines the success or failure of the installation of the sensor terminal 5 based on the vibration information from the sensor terminal 5. Specifically, the vibration detected by the sensor terminal 5 when correctly installed is measured in advance, and based on the value of the vibration, a reference value for determining success or failure of the installation of the sensor terminal 5 is determined, A reference value is set in advance. Thereafter, the sensor terminal installation device 90 installs the sensor terminal 5 and applies vibration to the ground. The vibration information notified from the sensor terminal 5 at that time is compared with a reference value. If the vibration value indicated by the vibration information from the sensor terminal 5 is greater than or equal to the reference value, it is determined that the sensor terminal 5 has been successfully installed.
  • the above-mentioned reference value is a plurality of measurements from the sensor terminal 5 by properly installing the sensor terminal 5 in a soil state that can be correctly installed as a calibration operation before the installation sequence, and applying vibration to the ground multiple times.
  • a value may be acquired and calculated based on the plurality of measurement values.
  • FIG. 16 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the sixth embodiment.
  • the processing of Example 6 shown in FIG. 16 is different from the processing shown in FIG. 3, FIG. 6, FIG. 8, FIG. 11 or FIG.
  • a process for calculating the amplitude value of the vibration step 602
  • a process for determining whether or not the sensor terminal 5 has been successfully installed step 603
  • a process for recording the number of times of failure determination when the installation is defective Step 604
  • processing for comparing the number of times of defect determination with a threshold Step 605
  • step 108 in FIG. 16 The processing up to step 108 in FIG. 16 is the same as in the first embodiment.
  • the sensor terminal installation device 90 applies vibration to the soil in the vicinity of the sensor terminal 5 by the vibration device 21 (step 601).
  • a vibration signal indicating vibration is transmitted from the sensor terminal 5 that has detected vibration to the sensor terminal installation device 90 via the transmitter 22 and the receiver 23.
  • the sensor terminal installation device 90 calculates an amplitude value of vibration based on the vibration information by the installation determination unit 24 (step 602). Furthermore, the sensor terminal installation device 90 determines whether or not the sensor terminal 5 is normally installed by the center installation determination unit 24 (step 603). At that time, the installation determination unit 24 compares the amplitude value with a predetermined reference value, and determines that the sensor terminal 5 is normally installed if the amplitude value is greater than or equal to the reference value.
  • step 603 If it is determined in step 603 that the installation is not successful, that is, it is defective, the sensor terminal installation device 90 counts up the number of times determined to be defective (number of times of defect determination) by the installation determination unit 24 and stores it. (Step 604).
  • the sensor terminal installation device 90 uses the installation determination unit 24 to compare the number of determinations with a predetermined threshold (step 605). In the example of FIG. If the defect determination count exceeds the threshold value, the sensor terminal installation device 90 outputs an alert indicating that the sensor terminal 5 has not been installed normally (step 111). It is conceivable that the sensor terminal 5 could not be installed due to a disturbance such as an unexpected obstacle. If the number of defect determinations is less than or equal to the threshold value, the sensor terminal installation device 90 returns to step 108 and repeats pushing of the sensor terminal 5.
  • the present invention is not limited to this.
  • the pressing force may be increased according to the number of defect determinations, or the pressing method may be changed according to the number of defect determinations.
  • the upper limit of the pushing force depends on the load resistance and impact resistance of the sensor terminal 5.
  • the threshold value for the number of defect determinations is set to two, but the number can be freely set.
  • an alert is output when the number of defect determinations exceeds a threshold value.
  • the sensor terminal 5 may be collected by the robot arm 7 or the like. It is possible to collect the sensor terminal 5 and install it again in another installable area. In that case, you may provide the step which collect
  • the vibration device 21 performs vibration using, for example, a sine waveform of an arbitrary frequency as a command value. However, it is not limited to that. As another example, sweep excitation or impulse excitation having a wide frequency band may be performed. In this case, not only the amplitude of the time response waveform but also the change of the vibration detection characteristic with respect to the vibration frequency of the sensor terminal 5 can be confirmed, and the accuracy of confirming the success or failure of the installation is improved.
  • the installation determination unit 24 may have a calculation unit for the frequency domain such as fast Fourier transform.
  • the transmitter 22 and the receiver 23 are wireless communication devices. However, it is not limited to this.
  • Information on whether or not the installation is successful may be transmitted between the transmitter 22 and the receiver 23 by an optical element such as an LED.
  • the installation determination part 24 is mounted in the sensor terminal 5, the installation success / failure is determined from the obtained vibration information, and when the installation is established, the LED of the transmitter 22 is turned on.
  • the receiver 23 having the light receiving element recognizes the lighting of the LED, and transmits the information of establishment establishment to the installation sequence determination unit 3. According to this configuration, by using the LED, an operator or the like can confirm the success or failure of the installation visually.
  • the vibration device 21 is mounted on the vehicle 1
  • the present invention is not limited to this.
  • the vibration device 21 may be mounted on a vehicle different from the sensor terminal installation device 90.
  • the sensor terminal 5 since vibration is actually applied to the soil and the sensor terminal 5 is examined to determine whether the vibration can be detected satisfactorily, rather than determining the success or failure of the installation only by the attitude of the sensor terminal 5, The success or failure of installation can be accurately determined. For example, it is assumed that the posture with the sensor terminal 5 installed is normal, but the coupling with the soil is not sufficient. In that case, resonance may occur or sensitivity may be lowered. According to the present embodiment, it is possible to actually check whether the sensor terminal 5 can correctly detect vibration by applying vibration to the soil by using the vibration device 21. Therefore, it is possible to determine with higher accuracy as to whether or not the installed sensor terminal 5 is successful.
  • the coupling state between the sensor terminal 5 and the ground can be confirmed at an early stage, so that the sensor terminal 5 can be immediately installed again or an alert is notified. Measures can be implemented. As a result, rework in the entire series of exploration operations can be reduced, and the lupus can be improved. Moreover, since the quality of the vibration signal from the sensor terminal 5 can be confirmed, highly accurate seismic exploration can be performed.
  • the vibration exciting device 21 Since the vibration exciting device 21 is mounted on the vehicle 1, it can apply vibration in the vicinity of the installed sensor terminal 5. Therefore, the required performance such as the excitation force of the excitation device 21 may be smaller than that used in the seismic survey. Further, the positional relationship between the vibration device 21 serving as the vibration source and the position of the sensor terminal 5 can be made constant, and there is no need to correct the amplitude value based on the distance between the vibration source and the sensor position.
  • Example 7 shows an example in which the sensor terminal installation device is physically composed of two vehicles.
  • the parts denoted by the same reference numerals as those in the first to sixth embodiments are the same as those in the first to sixth embodiments. Therefore, the description thereof will be omitted, and portions unique to the seventh embodiment will be mainly described.
  • FIG. 17 is a schematic diagram of a sensor terminal installation apparatus according to the seventh embodiment.
  • the sensor terminal installation device includes a sensing vehicle 1a and an installation vehicle 1b.
  • the sensing vehicle 1 a includes an automatic vehicle driving device 2, an installation sequence determination unit 3, a photographing unit 4, and a communication device 25.
  • the installation vehicle 1 b includes an automatic vehicle driving device 2, an installation sequence determination unit 3, a push-in mechanism 6, a robot arm 7, and a container unit 9.
  • the installation sequence for installing the sensor terminal 5 is determined by the installation sequence determination unit 3 disposed in each of the sensing vehicle 1a and the installation vehicle 1b. Further, between the sensing vehicle 1a and the installation vehicle 1b, vehicle position information and installation sequence information are exchanged by both communication devices 25.
  • FIG. 18 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation device according to the seventh embodiment.
  • FIG. 18 shows a processing group 901 executed by the sensing vehicle 1a and a processing group 902 executed by the installed vehicle 1b.
  • the installation sequence determination unit 3 determines a target position for moving the vehicle (step 101), and the automatic vehicle driving device 2 moves the sensing vehicle 1a to the target position (step 101). 102), the installation sequence determination unit 3 acquires an image of the soil (step 103), calculates the coordinates of the position where the sensor terminal 5 can be installed based on the image (step 104), and determines whether there is an installable area. (Step 105).
  • Each processing content is the same as that of the first embodiment.
  • step 105 If it is determined in step 105 that there is no installable area, the installation sequence determination unit 3 records information on the non-installable area (step 109), and the subsequent processing is the same as that of the sensor terminal installation apparatus 90 of the first embodiment. It is.
  • the installation sequence determination unit 3 of the sensing vehicle 1a transmits information indicating the coordinates of the target position of the installable area to the installation apparatus 1b using the communication device 25. (Step 701).
  • the installed vehicle 1b receives a signal from the sensing vehicle 1a through the communication device 25 (step 702). Furthermore, the installed vehicle 1b moves to the target position by automatic driving by the automatic vehicle driving device 2 (step 102). Thereafter, the installation apparatus 1b moves to the target position by the automatic vehicle driving apparatus 2 (step 102), determines the coordinates of the position where the sensor terminal 5 is installed by the installation sequence determination unit 3, and moves the sensor terminal 5 by the robot arm 7. The sensor terminal 5 is moved to the installation coordinates (step 107), and the sensor terminal 5 is pushed by the pushing mechanism 6 (step 108).
  • the processing of the processing group 901 by the sensing vehicle 1a and the processing of the processing group 902 by the installation vehicle 1b can be performed independently and in parallel. For example, when performing the process of pushing the sensor terminal 5 with the installed vehicle 1b (step 108), it is possible to perform the process (step 103) of acquiring the soil image with the sensing vehicle 1a.
  • soil sensing and sensor terminal 5 installation can be performed in parallel. For example, as a result, the throughput of the entire installation sequence can be improved. Moreover, since the function of the sensor terminal installation device is divided and mounted on two vehicles, the vehicle size can be reduced, and in a large vehicle such as the sensor terminal installation device 90 of the first embodiment, it is difficult to enter due to obstacles or the like. It can also invade places and perform sensing and installation.
  • cultivation unit 17b ... vertical movement mechanism, 18 ... excavation area, 19 ... soil hardness meter, 19a ... penetration part, 19b ... vertical movement mechanism, 20 ... distance sensor, 21 ... vibration device, 22 ... transmitter, 23 ... receiver, 24 ... installation judgment part, 25 ... communication device

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  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Acoustics & Sound (AREA)
  • Environmental & Geological Engineering (AREA)
  • Geology (AREA)
  • Remote Sensing (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

L'invention concerne un dispositif d'installation de terminal de capteur pour installer un terminal de capteur pour mesurer des vibrations, ledit dispositif comprenant une unité d'installation et une unité de détermination. L'unité d'installation déplace le terminal de capteur et installe le terminal de capteur à une position d'installation prescrite. L'unité de détermination détermine si le terminal de capteur peut être correctement installé au niveau de la position d'installation ou si le terminal de capteur a été correctement installé à la position prescrite. La présente invention permet d'installer correctement un terminal de capteur dans divers environnements de sol.
PCT/JP2016/081717 2016-10-26 2016-10-26 Dispositif et procédé d'installation de terminal de capteur WO2018078742A1 (fr)

Priority Applications (1)

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PCT/JP2016/081717 WO2018078742A1 (fr) 2016-10-26 2016-10-26 Dispositif et procédé d'installation de terminal de capteur

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Application Number Priority Date Filing Date Title
PCT/JP2016/081717 WO2018078742A1 (fr) 2016-10-26 2016-10-26 Dispositif et procédé d'installation de terminal de capteur

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4838379A (en) * 1987-10-23 1989-06-13 Geosource, Inc. Geophone implanting and positioning apparatus
US5315074A (en) * 1993-02-23 1994-05-24 Input/Output, Inc. Method and apparatus for implanting geophones into the earth
US6002641A (en) * 1998-04-28 1999-12-14 Input/Output, Inc. Apparatus and method for planting seismic sensors
US6814160B1 (en) * 1999-07-03 2004-11-09 Westerngeco, Llc Automated seismic geophone deployment

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4838379A (en) * 1987-10-23 1989-06-13 Geosource, Inc. Geophone implanting and positioning apparatus
US5315074A (en) * 1993-02-23 1994-05-24 Input/Output, Inc. Method and apparatus for implanting geophones into the earth
US6002641A (en) * 1998-04-28 1999-12-14 Input/Output, Inc. Apparatus and method for planting seismic sensors
US6814160B1 (en) * 1999-07-03 2004-11-09 Westerngeco, Llc Automated seismic geophone deployment

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
BUTSURI TANSA HANDBOOK, 1998, pages 35 *

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