System for tracking and/or guiding an underground boring tool
DCFirst Claim
1. A method of tracking the position and certain orientation parameters of a boring tool in the ground as the latter moves along a path which lies within a particular coordinate system, said method comprising the steps of:
- (a) providing the boring tool with means for transmitting an electromagnetic field;
(b) providing one or more detectors, each having an electromagnetic field receiving antenna assembly including at least one antenna, positioning each detector provided at a fixed position and at a particular orientation within said coordinate system, and determining the position and particular orientation within said coordinate system of the antenna associated with each detector provided;
(c) at least periodically transmitting said electromagnetic field from said boring tool when the boring tool is at certain positions on said path;
(d) when the boring tool is at one point on said path, establishing its position and said certain orientation parameters of the boring tool within the coordinate system;
(e) moving said boring tool along said path which includes said one point and at least a subsequent second point;
(f) when the boring tool moves a distance along said path from said one point to said second point, measuring at least one component of the intensity of said electromagnetic field using said detector or detectors; and
(g) determining, at least to an approximation, the position and orientation of the boring tool at said second point within the coordinate system using as a first input the electromagnetic field intensity measurement or measurements taken by said one or more detectors when the boring tool is at said second point.
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Abstract
Systems and associated methods for tracking and/or guiding an underground boring tool are disclosed. Each system or arrangement uses one or more detectors to measure the intensity of an electromagnetic field which is transmitted from an underground boring tool. The measured intensities may then be used to determine the location of the boring tool. In a dead reckoning embodiment of the invention, one detector may be employed while, in a position determination embodiment, two or more detectors may be employed. In any embodiment, physically measurable parameters may be used in addition to measured magnetic intensities. A highly advantageous mapping tool instrument and a cubic antenna are disclosed. The former for use in the position determination embodiment and the latter for use in any magnetic field detector employed herein. A highly advantageous apparatus and associated method for determining the movement of the boring tool underground by monitoring the motion of a drill string, which is attached to the boring tool and extends to a drill rig, are also disclosed wherein measurements are performed relating to movement of the drill string at the drill rig.
208 Citations
29 Claims
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1. A method of tracking the position and certain orientation parameters of a boring tool in the ground as the latter moves along a path which lies within a particular coordinate system, said method comprising the steps of:
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(a) providing the boring tool with means for transmitting an electromagnetic field; (b) providing one or more detectors, each having an electromagnetic field receiving antenna assembly including at least one antenna, positioning each detector provided at a fixed position and at a particular orientation within said coordinate system, and determining the position and particular orientation within said coordinate system of the antenna associated with each detector provided; (c) at least periodically transmitting said electromagnetic field from said boring tool when the boring tool is at certain positions on said path; (d) when the boring tool is at one point on said path, establishing its position and said certain orientation parameters of the boring tool within the coordinate system; (e) moving said boring tool along said path which includes said one point and at least a subsequent second point; (f) when the boring tool moves a distance along said path from said one point to said second point, measuring at least one component of the intensity of said electromagnetic field using said detector or detectors; and (g) determining, at least to an approximation, the position and orientation of the boring tool at said second point within the coordinate system using as a first input the electromagnetic field intensity measurement or measurements taken by said one or more detectors when the boring tool is at said second point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method of tracking the position of a boring tool in the ground as the latter moves along a path which lies within a coordinate system, said method comprising the steps of:
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(a) providing the boring tool with a pitch sensor and means for transmitting an electromagnetic field and moving said boring tool along a path; (b) providing two detectors, each of which has an electromagnetic field receiving antenna assembly including first, second and third receiving antennas mounted orthogonal to one another, positioning said detectors at two separate fixed locations within said coordinate system, and determining the positions and orientations of the first, second and third antennas of each detector within said coordinate system; (c) at least periodically transmitting said electromagnetic field from said boring tool at various points along the path of movement of said boring tool; (d) when the boring tool moves a distance along said path from the one point thereof to a second point, taking measurements of first, second and third components of the intensity of said electromagnetic field using the three antennas of each said detector; and (f) from the electromagnetic field intensity taken when the boring tool is at said second point, determining at least to an approximation the coordinates of the boring tool and its yaw angle at said second point within the coordinate system. - View Dependent Claims (18, 19, 20)
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21. In a system in which a boring tool is moved through the ground in a region, an arrangement for tracking the position and/or guiding the boring tool as it moves through the ground, said arrangement comprising:
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(a) moans located within said boring tool for transmitting an electromagnetic field (b) one or more detector means for receiving said electromagnetic field, each detector means having an electromagnetic field receiving antenna assembly including at least one antenna for measuring at least one component of the intensity of said electromagnetic field, each detector being positioned at a fixed position with its antenna at a particular orientation within said region; c) means for determining certain initial conditions prior to drilling which include the positions of said detectors in said region, the particular orientation of the antenna associated with each detector provided and an initial position and orientation of the boring tool; and (d) processing means for using at least one measured component of the intensity of said electromagnetic field, which is obtained using said detector or detectors after the boring tool moves a distance along said path, in determining, at least to an approximation, the position of the boring tool after moving said distance. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
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29. In a method of tracking the position and certain orientation parameters of a boring tool in the ground as the latter moves along a path from a first point to a second point within a particular coordinate system, the boring tool being provided with means for transmitting an electromagnetic field, the improvement comprising the steps of:
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(a) providing a plurality of detectors, each having an electromagnetic field receiving antenna assembly; (b) positioning each detector provided at a fixed position and at a particular orientation within said coordinate system but not along the intended path of movement of said boring tool and determining said fixed position and particular orientation; and (c) using said detectors at least in part to determine the position and orientation of said boring tool when the latter is at said second point.
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Specification