Abstract: The present disclosure relates to a gyro-based surveying tool for surveying of holes oriented in a basically vertical direction in areas with no line-of-sight connection to the sky. The gyro-based surveying tool comprises a surveying head and an analysing unit. The surveying head comprises a plurality of MicroElectroMechanical-systems-inertial-measurement-unit arrangements, MEMS-IMU arrangements. Each of the MEMS-IMU arrangements is arranged to transmit information relating to their measurement results to the analysing unit. The analysing unit is arranged to receive and analyse said transmitted information relating to the measurement results from the plurality of MEMS-IMU arrangements so as to calculate a combined measurement result. The surveying tool further comprises means for calculating an attitude and/or position of said surveying head based on said combined measurement result. The present disclosure also relates to a surveying method, a computer program for surveying, and a computer program product.

Abstract: The present disclosure relates to a gyro-based surveying tool for surveying of holes oriented in a basically vertical direction in areas with no line-of-sight connection to the sky. The gyro-based surveying tool comprises a surveying head and an analysing unit. The surveying head comprises a plurality of MicroElectroMechanical-systems-inertial-measurement-unit arrangements, MEMS-IMU arrangements. Each of the MEMS-IMU arrangements is arranged to transmit information relating to their measurement results to the analysing unit. The analysing unit is arranged to receive and analyse said transmitted information relating to the measurement results from the plurality of MEMS-IMU arrangements so as to calculate a combined measurement result. The surveying tool further comprises means for calculating an attitude and/or position of said surveying head based on said combined measurement result. The present disclosure also relates to a surveying method, a computer program for surveying, and a computer program product.

Abstract: A bottom-hole assembly (202), BHA, for drilling a borehole (204, 301) in an earth formation (208, 300), comprising a percussion drill bit (208), a percussion mechanism adapted to strike the drill bit (208), at least one sensor (226, 228, 230, 232, 234) for measuring a physical quantity and converting it into an electrical signal, and converting means (237) for converting the electrical signal into a digital signal, and a method for transmitting data from such a bottom-hole assembly (202) positioned in a borehole (204, 301), the bottom-hole assembly (202) and the method being characterized by encoding the digital signal by controlling the percussion mechanism and time periods between two impacts delivered by the percussion mechanism on the drill bit (208) during drilling, and transmitting the encoded digital signal by waves generated by the impacts delivered by the percussion mechanism on the drill bit (208). A system which comprises said bottom-hole assembly (202).

Abstract: A bottom-hole assembly (202), BHA, for drilling a borehole (204, 301) in an earth formation (208, 300), comprising a percussion drill bit (208), a percussion mechanism adapted to strike the drill bit (208), at least one sensor (226, 228, 230, 232, 234) for measuring a physical quantity and converting it into an electrical signal, and converting means (237) for converting the electrical signal into a digital signal, and a method for transmitting data from such a bottom-hole assembly (202) positioned in a borehole (204, 301), the bottom-hole assembly (202) and the method being characterized by encoding the digital signal by controlling the percussion mechanism and time periods between two impacts delivered by the percussion mechanism on the drill bit (208) during drilling, and transmitting the encoded digital signal by waves generated by the impacts delivered by the percussion mechanism on the drill bit (208). A system which comprises said bottom-hole assembly (202).

Abstract: The Invention relates to a method for monitoring a subterranean fracture, comprising determining by means of a plurality of seismic wave detectors (1a-1e) respective absolute or relative positions of a plurality of seismic events (k1-k.4) occurring as a result of hydraulic fracturing, and determining based at least partly on said positions of the events (k1-k.4) the orientation of a subterranean fracture (4) resulting from the hydraulic fracturing.

Abstract: A carrier, such as an autonomous surface treatment device, e.g., a robotic vacuum cleaner, has motive units, such as wheels, for transporting the carrier over a field of operation. The state of the carrier, which can be its position on the field of operation, is determined based, at least in part, on the actual track width of the motive units which will change depending on the carrier's driving mode. For example, when the carrier is operating in a driving mode where it is turning, the actual track width of the motive units will be different from the actual track width of those units when the carrier is proceeding straight ahead. A determination is made of the driving mode in which the carrier is operating at the time its state is to be determined, and the actual track width of the motive units that corresponds to that driving mode is employed in determining the state of the carrier.

Abstract: According to the invention, autonomous carriers or vehicles are efficiently navigated over a field of operation. The carriers are equipped to execute a selected procedure at more than one desired location on the field, and the navigation system of the invention directs the carrier to the location that is preferentially accessible to it, based on a defined criterion. After the carrier has executed the selected procedure at the location which is preferentially accessible to it, the navigation system directs the carrier to the location which is preferentially accessible to the carrier from the carrier's new position. This procedure is repeated until all the locations at which the procedure is to be executed have been reached. The task of determining a navigation route to a location that can be preferentially accessed is based on an efficient, structured search procedure of low computational complexity.

Abstract: An improved transducer for a proximity sensing system using a sonar transmitter is disclosed. An autonomous device provided with a number of motor-driven wheels further comprises a number of elements for the proximity navigation and guiding of the device such as a microprocessor system and a proximity ultrasonic sensing system comprising at least one transmitting member and one receiving member. The transmitting member is formed by the ultrasound transducer (11), which is positioned behind a wire mesh at the front of the device. The device transmits ultrasonic waves from a first strip-shaped device (21) with a narrow vertical distribution within a wide horizontal sector, and a second strip-shaped device (22) providing a wider vertical distribution within a similarly wide horizontal sector in front of the autonomous device.

Abstract: A carrier, such as an autonomous surface treatment device, e.g., a robotic vacuum cleaner, has motive units, such as wheels, for transporting the carrier over a field of operation. The state of the carrier, which can be its position on the field of operation, is determined based, at least in part, on the actual track width of the motive units which will change depending on the carriers driving mode. For example, when the carrier is operating in a driving mode where it is turning, the actual track width of the motive units will be different from the actual track width of those units when the carrier is proceeding straight ahead. A determination is made of the driving mode in which the carrier is operating at the time its state is to be determined, and the actual track width of the motive units that corresponds to that driving mode is employed in determining the state of the carrier.

Abstract: According to the invention, autonomous carriers or vehicles are efficiently navigated over a field of operation. The carriers are equipped to execute a selected procedure at more than one desired location on the field, and the navigation system of the invention directs the carrier to the location that is preferentially accessible to it, based on a defined criterion. After the carrier has executed the selected procedure at the location which is preferentially accessible to it, the navigation system directs the carrier to the location which is preferentially accessible to the carrier from the carrier's new position. This procedure is repeated until all the locations at which the procedure is to be executed have been reached. The task of determining a navigation route to a location that can be preferentially accessed is based on an efficient, structured search procedure of low computational complexity.

Abstract: An autonomous device is adapted to automatically move on a work surface removing dirt, such as gravel, sand, dust particles and the like, from said work surface. The device comprises a chassis provided with wheels and with a brush roller rotated by a drive motor during said movement for the purpose of brushing up the dirt towards a suction duct wherefrom, by means of a suction air stream, the dirt is conveyed to a dust container. An electronic control device is provided for the control of the drive motor of the brush roller. If the movement of the brush roller is blocked or obstructed to a predetermined extent the control device is arranged to stop the brush roller motor and then transitorily activate the motor in the opposite direction and, finally, after another stop, to reconnect the brush roller motor to operate in the original direction of rotation.