Electromagnetic Measurement System for Underground Tunneling Robot Identification

This paper proposes a newly developed thin arrayed magnetic receiver system and describes an especially designed 1.3mm thick high sensitive magnetometer. The former enables remote position sensing of underground mobile robots using electromagnetism. It features a sensor sheet spread over the ground above the construction site. The robot position is estimated in high accuracy with its multiple measurement data. The receiver contains the latter. A print-circuit-board photo fabrication process has successfully realized a planar coil. A very thin and high-sensitive magnetometer is prototyped by adding a built-in amplifier and filter circuit.