Automated bore planning method and apparatus for horizontal directional drilling

• US 20020116129A1
• Filed: 04/12/2002
• Published: 08/22/2002
• Est. Priority Date: 01/13/1999
• Status: Active Grant

• Current Assignee: Vermeer Manufacturing Company
• Original Assignee: Vermeer Manufacturing Company
• Inventors: Alft, Kevin L., Delonti, Fred G., Cartwright, Paul A., Rettig, Christopher Dean
• Granted Patent: US 6,577,954 B2
• Time in Patent Office: Days
• US Class Current: 702/9
• CPC Class Codes: E21B 44/00 Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
• CPC Class Codes: E21B 47/0232 at least one of the energy sources or one of the detectors being located on or above the ground surface
• CPC Class Codes: E21B 7/04 Directional drilling
• CPC Class Codes: G01V 1/40 specially adapted for well-logging
• CPC Class Codes: G01V 3/18 specially adapted for well-logging

Abstract

A system and method provide for electronic development of a bore plan for use in connection with an underground boring machine. Electronically developing a bore plan involves receiving bore path plan information representative of an intended bore path at the bore site, which may include topographical and utility related information. A pre-established bore plan is generated using the received bore path plan information. Actual bore path information is acquired indicative of an actual bore path produced by the boring machine. A modified bore plan is generated using the actual bore path information and at least some of the bore path plan information. The modified bore plan comprises data representative of a modified bore path that minimizes a deviation in alignment between the actual bore path and the intended bore path. Selected bore plan data can be displayed in both textual and graphical forms.

Claims

1. A method for electronically developing a bore plan of a bore site for use in connection with an underground boring machine, comprising

receiving topographical information representative of topography of the bore site;

receiving utility information representative of one or more utilities situated at the bore site;

receiving bore path information representative of an intended bore path for the bore site; and

generating bore plan data using the received topographic, utility, and bore path information, the bore plan data comprising data representative of an intended bore defined along the intended bore path and with respect to the representative topography of the bore site.

2. The method of claim 1, further comprising receiving product information concerning a product to be installed in the intended bore, wherein the bore plan data is generated using the received topographic, utility, bore path, and product information.

3. The method of claim 2, wherein the product information comprises one or more of a diameter, allowable bend radius, and quantity of the product to be installed in the intended bore.

4. The method of claim 2, further comprising receiving ground cover information concerning ground cover above the installed product.

5. The method of claim 1, further comprising receiving drill rod information concerning a drill rod to be used to produce an actual bore at the bore site, wherein the bore plan data is generated using the received topographic, utility, bore path, and drill rod information.

6. The method of claim 5, further comprising receiving ground cover information concerning ground cover above the installed product, wherein the ground cover information is defined with respect to length along the drill rod.

7. The method of claim 1, wherein the topographical information comprises information for defining a surface of earth at the bore site, the method further comprising receiving surface feature information representative of one or more features defined on the earth'"'"'s surface at the bore site.

8. The method of claim 7, wherein the surface feature information comprises information representative of surface water at the bore site.

9. The method of claim 7, wherein the surface feature information comprises information representative of a man-made or natural obstacle, structure or pathway.

10. The method of claim 1, wherein the topographical information comprises information representative of a height of a surface of earth at the bore site above the intended bore path.

11. The method of claim 10, wherein the height of the earth'"'"'s surface at the bore site above the intended bore path is defined relative to a pre-established reference of the bore site.

12. The method of claim 11, wherein the pre-established reference of the bore site is defined in terms of a latitude, longitude, and altitude.

13. The method of claim 1, further comprising receiving machine information concerning the underground boring machine to be used to produce an actual bore at the bore site.

14. The method of claim 13, wherein the machine information comprises one or more of drill rod radius information, drill rod bend radius information, and type of underground boring machine to be used to produce an actual bore at the bore site, further wherein the bore plan data is generated using the received topographic, utility, bore path, and some or all of the machine information.

15. The method of claim 1, wherein receiving bore path information representative of the intended bore path comprises receiving location information concerning one or more targets through which the intended bore path is to pass.

16. The method of claim 1, wherein receiving bore path information representative of the intended bore path comprises receiving pitch and azimuth information concerning one or more targets through which the intended bore path is to pass.

17. The method of claim 1, wherein the utility information comprises information concerning one or more of a gas, water, sewer, communications or electrical utility to be avoided by the intended bore path.

18. The method of claim 1, wherein receiving the utility information comprises receiving location information of at least two points of each of the utilities situated at the bore site.

19. The method of claim 1, wherein receiving the utility information comprises receiving information identifying each of the utilities situated at the bore site as an intersecting utility or a non-intersecting utility, an intersecting utility defining a utility that is expected to pass under or over the intended bore path and a non-intersecting utility defining a utility that is not expected to pass under or over the intended bore path.

20. The method of claim 19, wherein the utility information comprises information identifying one or both of a first end and a second end of each utility, and further comprises pot hole information of each utility.

21. A method for electronically developing a bore plan of a bore site for use in connection with an underground boring machine, comprising

displaying a topography input window that receives topographic input data from a user;

displaying a utilities input window that receives utility input data from the user;

displaying a bore path input window that receives bore path input data from the user; and

displaying a graphical representation of the bore plan comprising graphical representations of each utility and a bore path presented within a topographic representation of the bore site.

22. The method of claim 21, wherein the graphical representation of the bore plan has a three-dimensional effect.

23. The method of claim 21, wherein the graphical representation of the bore plan is defined relative to a bore site reference.

24. The method of claim 21, wherein displaying the topography input window comprises displaying a distance field, a height field, and an optional left/right field for receiving from the user distance, height, and optional left/right input data for each of one or more topographic points.

25. The method of claim 21, wherein displaying the utilities input window comprises displaying at least one location window and a pot hole window for receiving from the user location and pot hole input data for each of one or more utilities.

26. The method of claim 21, wherein displaying the utilities input window comprises displaying an intersecting field and a non-intersecting field for specifying by the user whether a utility is an intersecting utility or a non-intersecting utility, an intersecting utility defining a utility that is expected to pass under or over the bore path and a non-intersecting utility defining a utility that is not expected to pass under or over the bore path.

27. The method of claim 21, wherein displaying the utilities input window comprises displaying a diameter field and a minimum clearance field for receiving from the user diameter and minimum clearance data for each of one or more utilities, the diameter data indicating a diameter of the utility and the minimum clearance data indicating a clearance defined around each utility through which the bore path is not permitted to pass.

28. The method of claim 21, wherein displaying the bore path input window comprises displaying a target window for receiving from the user location data for each of a plurality of bore path targets through which the bore path is to pass.

29. The method of claim 21, wherein displaying the bore path input window comprises displaying distance, depth, and left/right fields for receiving from the user distance, depth, and left/right data for each of a plurality of bore path targets through which the bore path is to pass.

30. The method of claim 21, wherein displaying the bore path input window comprises displaying pitch and azimuth fields for receiving from the user pitch and azimuth data for each of a plurality of bore path targets through which the bore path passes.

31. The method of claim 21, wherein displaying the bore path input window comprises displaying a grade window for receiving from the user grade data defining a grade through which the bore path is to pass.

32. The method of claim 21, further comprising altering one or more of the topographic input data, utility input data or bore path input data.

33. The method of claim 21, further comprising altering the graphical representations of a selected utility, topographic or bore path element in response to a user input command.

34. The method of claim 33, further comprising displaying data corresponding to the selected utility, topographic or bore path element while graphically altering the graphical representation of the selected utility, topographic or bore path element.

35. The method of claim 21, further comprising displaying a selected one of a bore plan report or graph, a minimum ground cover report or graph, a sonde information report or graph, or a warnings/errors report or graph.

36. The method of claim 21, further comprising displaying a drill rod selection window that receives drill rod input data from the user, the drill rod selection window providing input windows for receiving dill rod input data defining one or more of rod diameter, individual rod length, rod bend radius, and entry point offset.

37. The method of claim 21, further comprising displaying a product selection window that receives product input data from the user, the product selection window providing an input window for receiving product input data defining one or both of product diameter and product quantity.

38. The method of claim 21, further comprising displaying a diameter selection window that receives diameter input data from the user, the diameter selection window providing an input window for receiving input data defining one or both of a backreamer diameter and a pilot bit diameter.

39. The method of claim 21, further comprising displaying a machine selection window that receives machine input data from the user, the machine input data defining one of a plurality of underground boring machines selectable by the user.

40. The method of claim 21, further comprising displaying an entry angle selection window that receives entry angle input data from the user, the entry angle input data defining a drill rack angle with respect to the horizon associated with a selected underground boring machine.

41. A method of electronically computing a bore plan of a bore site for use in connection with an underground boring machine, comprising:

providing target parameters defining each of a plurality of target points along an intended bore path;

providing utility parameters defining one or more utilities situated at the bore site;

providing a maximum bend radius parameter representative of a maximum bend radius of a specified drill rod to be used to produce an actual bore at the bore site; and

calculating a bore that connects with each of the target points, avoids passing through the utilities, and avoids exceeding a maximum bend radius of the specified drill rod using the target, utility, and maximum bend radius parameters.

42. The method of claim 41, wherein providing the utility parameters comprises providing parameters defining a safety clearance region for each of the utilities, and calculating the bore further comprises calculating the bore such that the bore avoids passing through the safety clearance region of each of the utilities using the safety clearance region parameters.

43. The method of claim 41, wherein providing the utility parameters comprises providing utility parameters that define at least one point of each utility in three-dimensions.

44. The method of claim 41, wherein providing the utility parameters comprises providing a distance, left/right, and depth parameter for at least one point of each utility.

45. The method of claim 41, wherein providing the utility parameters comprises providing utility parameters defining one or both of a first end and a second end of each utility, and further comprises providing utility parameters defining pot hole parameters of each utility, the pot hole parameters indicating a point where the bore crosses under or over the utility.

46. The method of claim 41, wherein providing the target parameters comprises providing target parameters that define each target point in three-dimensions.

47. The method of claim 41, wherein providing the target parameters comprises providing a distance, left/right, and depth parameter for each target point.

48. The method of claim 41, wherein providing the target parameters comprises providing a pitch and azimuth for each target point.

49. The method of claim 41, further comprising calculating one or both of an entrance target point and an exit target point.

50. The method of claim 41, wherein calculating the bore further comprises:

incrementally displacing the bore a specified distance from a particular target point to an adjacent target point; and

at each displacement increment, calculating a direction that moves the bore toward the adjacent target point.

51. The method of claim 41, wherein calculating the bore further comprises calculating one or more control points to connect the bore between a particular target point and an adjacent target point.

52. The method of claim 51, wherein each control point defines a point which is co-planar with respect to the particular and adjacent target points and is co-planar with respect to a direction angle of the adjacent target point.

53. The method of claim 52, wherein a region is defined for the adjacent target point which represents a limit of the specified drill rod'"'"'s ability to bend as a function of the maximum bend radius of the specified drill rod, further wherein each control point defines a point which is co-planar with respect to the particular and adjacent target points, is co-planar with respect to a direction angle of the adjacent target point, and, when connected with the particular target point, tangentially intersects the region by a predetermined allowable bore length.

54. The method of claim 41, wherein calculating the bore further comprises calculating a largest allowable drill string bend radius which connects the bore between a particular target point and an adjacent target point.

55. The method of claim 41, wherein calculating the bore further comprises calculating one or more segments which connect the bore between a particular target point and an adjacent target point.

57. The system of claim 56, wherein the input device is operable by the user.

58. The system of claim 56, wherein the input device comprises a communications interface.

59. The system of claim 56, wherein the bore plan data is presented in graphical form on the display as data representative of the intended bore defined along the intended bore path and with respect to the representative topography of the bore site.

60. The system of claim 56, wherein the input device provides for inputting product information representative of one or more of a diameter, allowable bend radius, and quantity of the product to be installed along the bore path, the processor computing the bore plan data using the topographic, utility, bore path, and product information.

61. The system of claim 56, wherein the input device provides for inputting drill rod information representative of one or both of drill rod radius information and drill rod bend radius information, the processor computing the bore plan data using the topographic, utility, bore path, and drill rod information.

62. The system of claim 56, wherein the input device provides for inputting bore path information comprising location information concerning one or more targets through which the intended bore path is to pass.

63. The system of claim 56, wherein the input device provides for inputting bore path information comprising pitch and azimuth information concerning one or more targets through which the intended bore path is to pass.

64. The system of claim 56, wherein the input device provides for inputting utility information comprising at least two points of each of the utilities situated at the bore site.

65. The system of claim 56, wherein the processor alters one or more of the topographic information, utility information or bore path information.

66. The system of claim 56, wherein the processor alters graphical representations of a selected utility, topographic or bore path element presented on the display in response to a command received by the input device.

67. The system of claim 56, wherein the processor displays data corresponding to a selected utility, topographic or bore path element while graphically altering the graphical representation of the selected utility, topographic or bore path element.

68. The system of claim 56, further comprising an output device coupled to the processor, the output device generating a selected one of a bore plan report or graph, a minimum ground cover report or graph, a sonde information report or graph, or a warnings/errors report or graph.

56. A system for electronically developing a bore plan of a bore site for use in connection with an underground boring machine, comprising:

a processor;

memory coupled to the processor;

an input device, coupled to the processor, for inputting topographical information representative of topography at the bore site, utility information representative of one or more utilities situated at the bore site, and bore path information representative of an intended bore path at the bore site; and

a display device coupled to the processor, the processor computing bore plan data using the topographic, utility, and bore path information, the bore plan data presented in textual and/or graphical form on the display as data representative of an intended bore defined along the intended bore path.

69. A computer readable medium embodying program instructions for electronically developing a bore plan of a bore site for use in connection with an underground boring machine, comprising:

receiving topographical information representative of topography of the bore site;

receiving utility information representative of one or more utilities situated at the bore site;

receiving bore path information representative of an intended bore path at the bore site; and

generating bore plan data using the received topographic, utility, and bore path information, the bore plan data comprising data representative of an intended bore defined along the intended bore path and with respect to the representative topography of the bore site.

70. A computer readable medium embodying program instructions for electronically developing a bore plan of a bore site for use in connection with an underground boring machine, comprising:

displaying a topography input window that receives topographic input data from a user;

displaying a utilities input window that receives utility input data from the user;

displaying a bore path input window that receives bore path input data from the user; and

displaying a graphical representation of the bore plan comprising graphical representations of each utility and a bore path presented within a topographic representation of the bore site.

71. A computer readable medium embodying program instructions for electronically developing a bore plan of a bore site for use in connection with an underground boring machine, comprising:

providing target parameters defining each of a plurality of target points along an intended bore path;

providing utility parameters defining one or more utilities situated at the bore site;

providing a maximum bend radius parameter representative of a maximum bend radius of a specified drill rod to be used to produce an actual bore at the bore site; and

calculating a bore that connects with each of the target points, avoids passing through the utilities, and avoids exceeding a maximum bend radius of the specified drill rod.

72. A method for electronically developing a bore plan of a bore site for use in connection with an underground boring machine, comprising

generating a pre-established bore plan using bore path plan information representative of an intended bore path for the bore site, the bore path plan information comprising two or more target points through which the intended bore path is to pass, the pre-established bore plan representative of an intended bore defined along the intended bore path;

receiving actual bore path information indicative of an actual bore path produced by the boring machine; and

generating a modified bore plan using the actual bore path information and at least some of the bore path plan information, the modified bore plan comprising data representative of a modified bore path that minimizes a deviation in alignment between the actual bore path and the intended bore path.

73. The method of claim 72, wherein generating the modified bore plan comprises generating one or more new target points to direct the modified bore path into alignment with the intended bore path.

74. The method of claim 73, wherein the one or more new target points are generated automatically.

75. The method of claim 73, wherein the one or more new target points are generated manually.

76. The method of claim 72, wherein receiving the actual bore path information comprises receiving the actual bore path information acquired from above ground.

77. The method of claim 72, wherein receiving the actual bore path information comprises receiving the actual bore path information acquired down-hole.

78. The method of claim 72, further comprising generating an actual bore plan using the actual bore path information, the actual bore path information comprising at least an entry point and a current position along the actual bore path.

79. The method of claim 72, further comprising displaying the pre-established bore plan and the actual bore path.

80. The method of claim 72, further comprising displaying one or more of the pre-established bore plan, actual bore path, and modified bore plan.

81. The method of claim 72, further comprising generating an audible or visual warning in response to the deviation in alignment between the actual bore path and the pre-established bore plan.

82. The method of claim 72, further comprising validating the modified bore plan.

83. The method of claim 72, further comprising validating the modified bore plan to comply with one or more mechanical limitations associated with boring machine operation.

84. The method of claim 83, wherein the one or more mechanical limitations comprise one or both of a maximum bend radius of a drill string and a maximum bend radius of a product to be installed at the bore site.

85. The method of claim 72, wherein receiving the actual bore path information comprises receiving geophysical information concerning the actual bore path.

86. The method of claim 85, wherein the geophysical information is acquired above ground.

87. The method of claim 85, wherein the geophysical information is acquired down hole.

88. The method of claim 72, further comprising estimating an amount of bore path straightening that will occur during backreaming, wherein the modified bore plan is generated using the actual bore path information, the at least some of the bore path plan information, and the estimated amount of bore path straightening that will occur during backreaming.

89. The method of claim 72, further comprising:

receiving topographical information representative of topography of the bore site; and

receiving utility information representative of one or more utilities situated at the bore site, wherein the pre-established bore plan is generated using the bore path plan information, topographical information, and utility information.

90. The method of claim 72, wherein each of the target and new points is respectively defined by a distance value, left/right value, and a depth value.

91. A system for electronically developing a bore plan of a bore site for use in connection with an underground boring machine, comprising:

a processor;

an input device for inputting bore path plan information representative of an intended bore path for the bore site, the bore path plan information comprising two or more target points through which the intended bore path is to pass;

an interface for receiving actual bore path information indicative of an actual bore path produced by the boring machine; and

a display device, the processor computing a pre-established bore plan using the bore path plan information and computing a modified bore plan using the actual bore path information and at least some of the bore path plan information, the modified bore plan comprising data representative of a modified bore path that minimizes a deviation in alignment between the actual bore path and the intended bore path, wherein data associated with one or more of the pre-established bore plan, actual bore path, and modified bore plan are presented on the display in one or both of textual and graphical form.

92. The system of claim 91, wherein the processor generates the modified bore plan by generating one or more new target points to direct the modified bore path into alignment with the intended bore path.

93. The system of claim 91, wherein one or more new target points are received by operator use of the input device, the processor generating the modified bore plan using the one or more new target points to direct the modified bore path into alignment with the intended bore path.

94. The system of claim 91, wherein the interface is adapted to receive the actual bore path information from an above-ground locator.

95. The system of claim 91, wherein the interface is adapted to receive the actual bore path information from a down-hole sensor system.

96. The system of claim 91, wherein graphical representations of the actual bore path and modified bore plan are superimposed with a graphical representation of the pre-established bore plan on the display.

97. The system of claim 91, wherein the processor validates the modified bore plan.

98. The system of claim 91, wherein the processor validates the modified bore plan to comply with one or more mechanical limitations associated with boring machine operation.

99. The system of claim 98, wherein the one or more mechanical limitations comprise one or both of a maximum bend radius of a drill string and a maximum bend radius of a product to be installed at the bore site.

100. The system of claim 91, wherein the interface is adapted to receive geophysical information concerning the actual bore path from a geophysical sensor system, the processor generating the modified bore plan using the actual bore path information, the at least some of the bore path plan information, and the geophysical information.

101. The system of claim 100, wherein the interface receives the geophysical information from an above-ground geophysical sensor system.

102. The system of claim 100, wherein the interface receives the geophysical information from a down-hole geophysical sensor system.

103. The system of claim 91, wherein the processor estimates an amount of bore path straightening that will occur during backreaming, the processor generating the modified bore plan using the actual bore path information, the at least some of the bore path plan information, and the estimated amount of bore path straightening that will occur during backreaming.

104. The system of claim 91, wherein the input device receives topographical information representative of topography of the bore site and utility information representative of one or more utilities situated at the bore site, the processor generating the pre-established bore plan using the bore path plan information, topographical information, and utility information.

105. The system of claim 91, wherein each of the target and new points is respectively defined by a distance value, left/right value, and a depth value.