Airborne locator of an underground object

• US 10,459,105 B2
• Filed: 05/24/2017
• Issued: 10/29/2019
• Est. Priority Date: 07/17/2014
• Status: Active Grant

• Current Assignee: Charles Machine Works Incorporated The
• Original Assignee: Charles Machine Works Incorporated The
• Inventors: Cole, Scott B., Bailey, Brian K., Morse, Larry G.
• Primary Examiner(s): Hollington, Jermele M
• Assistant Examiner(s): Nasir, Taqi R
• Application Number:
  US15/603,719
• Publication Number:
  US 20170299755A1
• Time in Patent Office: 888 Days
• Field of Search: 324324-375, 324201-263, 324314, 324639, 324136
• CPC Class Codes: G01V 3/16 specially adapted for use from aircraft G01V3/165 - G01V3/175 take precedence
• CPC Class Codes: G01V 3/165 operating with magnetic or electric fields produced or modified by the object or by the detecting device with electromagnetic waves G01V3/17

Abstract

A system for locating an underground line. The system uses a self-propelled autonomous antenna, processor and propulsion system. The antenna detects a magnetic field from an underground line and generates an antenna signal. The processor is programmed to receive the antenna signal and generate a command signal. The propulsion system receives the command signal and moves the antenna along a length of the underground line, allowing the processor to map the same.

Claims

1. A system comprising:

a signal transmitter;

an underground line comprising a first end and a length extending from the first end, wherein the signal transmitter is coupled to the underground line at the first end to generate a magnetic field along and about the length of the underground line; and

a self-propelled autonomous receiver comprising;

an antenna assembly to detect the magnetic field and generate an antenna signal;

a processor programmed to receive the antenna signal and generate a command signal; and

a propulsion system to receive the command signal and move the receiver to a position above the underground line.

2. The system of claim 1 wherein the antenna assembly comprises a plurality of antennas, each of the plurality of antennas disposed on a different axis.

3. The system of claim 1 wherein the antenna assembly comprises a ferrite rod.

4. The system of claim 1 further comprising an altimeter to determine an altitude of the receiver above ground level.

5. The system of claim 4 wherein the command signal directs the receiver to move above the length of the underground line.

6. The system of claim 1 wherein in the processor determines a distance between the receiver and the underground line.

7. The system of claim 4 further comprising the altimeter to determine an altitude of the receiver above ground level, wherein the processor determines a depth of the underground line below ground using the altitude of the receiver and the distance between the receiver and the underground line.

8. The system of claim 1 wherein the propulsion system comprises a helicopter rotor.

17. The system of claim 1 in which the signal transmitter is disposed above ground.

19. The system of claim 1 in which the magnetic field is cylindrical.

9. A device comprising:

a frame having a top and a bottom;

an antenna assembly attached to the bottom of the frame; and

a propulsion system supported by the frame;

a processor configured to determine a distance between the antenna assembly and an underground line based on the signal strength and magnetic field orientation emanating from the length of the underground line;

wherein the propulsion system moves the frame to a position directly above the underground line in response to signal strength and magnetic field orientation measurements taken by the antenna assembly.

10. The device of claim 9 wherein the processor is further programmed to transmit a command signal to the propulsion system, wherein the command signal engages the propulsion system to move the frame above an above-ground path of the underground line.

11. The device of claim 10 further comprising an altimeter to determine an altitude of the frame above ground level, wherein the processor determines a depth of the transmitter below ground using the altitude of the receiver and the distance between the antenna assembly and the transmitter.

12. The device of claim 11 wherein the altimeter comprises an ultrasonic sensor.

13. The device of claim 9 wherein the propulsion system comprises a helicopter rotor.

14. The device of claim 9 wherein the antenna assembly comprises a first and second vertically displaced antenna assembly.

18. A system comprising:

the device of claim 9 disposed above the ground; and

a signal generator disposed above the ground;

wherein the signal generator is configured to generate the magnetic field transmitted by the underground line.

15. A method comprising:

providing an antenna assembly and a propulsion system capable of lifting the antenna assembly off the ground;

transmitting a magnetic field along an underground line;

engaging the propulsion system to lift the antenna assembly into the air;

detecting the magnetic field using the antenna assembly;

moving the receiver with the propulsion system to a position above the underground line; and

measuring the signal strength of the magnetic field and the orientation of the magnetic field using the antenna assembly to determine a depth of the underground line.

16. The method of claim 15 further comprising:

moving the antenna assembly along a length of the underground line; and

mapping the underground line in three dimensions.