System and method for determining orientation to an underground object

• US 6,411,094 B1
• Filed: 12/30/1997
• Issued: 06/25/2002
• Est. Priority Date: 12/30/1997
• Status: Expired due to Term

• Current Assignee: Charles Machine Works Incorporated The
• Original Assignee: Charles Machine Works Incorporated The
• Inventors: Gard, Michael F., Jin, Jian
• Primary Examiner(s): SNOW, WALTER E
• Application Number:
  US08/999,166
• Time in Patent Office: 1,638 Days
• Field of Search: 324/326, 324/327, 324/328, 324/329, 324/67, 324/239, 324/226, 702/9, 702/150, 701/300, 175/45
• US Class Current: 324/326
• 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 47/092 by detecting magnetic anomalies
• CPC Class Codes: G01V 3/08 operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices with electromagnetic waves G01V3/12

Abstract

A system and method use magnetic field sensing to detect underground objects for strike avoidance. The system detects magnetic field components for both passive distortions in the magnetic field indicative of a ferromagnetic object and active magnetic fields that are impressed on an object by a signal generator. A detection module has a magnetic sensor assembly that detects the magnetic field components. The magnetic field component data is transferred through a multiplexer to an analog/digital converter to a processor. Pitch angle data from a pitch sensor and roll angle data from a roll sensor also may be transferred to the processor. The data is processed by the processor to determine the orientation of the detection module with respect to the object. The detection module may be installed in an underground boring tool or a trenching assembly.

Claims

1. A detection system for use in boring or trenching to detect an object in an area of the boring or trenching having a detection module comprising:

a magnetic sensor assembly adapted to detect magnetic field components from a passive magnetic field distortion caused by the object and to transmit the magnetic field components; and

a processor adapted to receive the magnetic field components that are detected by the magnetic sensor assembly, to process the magnetic field components to determine the total magnetic field of the passive magnetic field distortion, and to compare the total magnetic field to a setpoint to determine if the total magnetic field varies from the setpoint by more than a designated tolerance to determine if the passive magnetic field distortion is within a designated distance of the detection module, thereby determining if the object is within the designated distance of the detection module.

2. The detection system of claim 1 wherein the detection module further comprises:

an analog/digital converter adapted to receive the magnetic field components in an analog format, to convert the magnetic field components to a digital format, and to transfer the magnetic field components to the processor in the digital format; and

a multiplexer adapted to receive the magnetic field components from the magnetic sensor assembly and to transfer the magnetic field components to the analog/digital converter.

3. The detection system of claim 1 wherein the detection module further comprises an output interface adapted to transfer the total magnetic field in process data from the detection module.

4. The detection system of claim 3 wherein the output interface comprises:

a tank adapted to transmit process data from the detection module using a frequency;

a tank regulator adapted to regulate power to the tank; and

a frequency driver adapted to generate and to modulate the frequency that is provided to the tank.

5. The detection system of claim 4 wherein the frequency driver comprises:

an oscillator/frequency counter adapted to generate an oscillating frequency signal;

a pair of field effect transistors adapted to receive power from the tank regulator and to provide the power to the tank when gated; and

a gate driver adapted to gate the field effect transistors based upon a phase of the frequency signal from the oscillator/frequency counter and a control signal from the processor.

6. The detection system of claim 1 wherein the detection module further comprises an input interface adapted to accept data from a device external to the detection module and to transfer the data to the processor.

7. The detection system of claim 1 wherein the detection module further comprises an optional sensor assembly adapted to detect at last one of navigation information and environmental information and to transfer the information to the processor.

8. The detection system of claim 7 wherein the optional sensor assembly comprises a roll sensor adapted to detect roll data and to transmit the roll data to the processor.

9. The detection system of claim 7 wherein the optional sensor assembly comprises a pitch sensor assembly adapted to detect pitch data and to transmit the pitch data to the processor.

10. The detection system of claim 7 wherein the optional sensor assembly comprises a temperature sensor adapted to collect temperature data and to transmit the temperature data to the processor.

11. The detection system of claim 1 wherein the magnetic sensor assembly comprises:

a plurality of magnetic field sensors each adapted to detect one of the magnetic field components from the magnetic field and to transmit the one magnetic field component in a sensor signal;

a plurality of filter/preamplifier assemblies each adapted to receive one of the sensor signals from the magnetic field sensors, to filter signal components from the received sensor signal, and to amplify the received sensor signal; and

a plurality of filter/amplifier assemblies each adapted to receive one of the sensor signals from the filter/preamplifier assemblies, to filter spectral components from the received sensor signal, and to amplify the received sensor signal before the received sensor signal is transmitted to the processor.

12. The detection system of claim 11 wherein one of the plurality of filter/amplifier assemblies comprises a lowpass filter/amplifier adapted to filter out signal components above a designated frequency.

13. The detection system of claim 11 wherein the magnetic sensor assembly further comprises a plurality of detectors each adapted to receive a sensor signal from one of the filter/amplifier assemblies, to extract sampled data from the received sensor signal, and to transmit the sampled data to the processor as the received sensor signal.

14. The detection system of claim 13 wherein one of the detectors comprises a peak detector.

15. The detection system of claim 13 wherein one of the detectors comprises a sampled-data system.

16. The detection system of claim 1 wherein:

the magnetic sensor assembly further is adapted to detect magnetic field components from an active magnetic field and to transmit the active magnetic field components; and

the processor further is adapted to receive the active magnetic field components from the magnetic sensor assembly, to reproject the active magnetic field components to a consistent reference plane to remove angular influence from the active magnetic field components, and to process the active magnetic field components to determine an orientation from the detection module to the object.

17. The detection system of claim 16 wherein:

the plurality of magnetic field sensors each are further adapted to detect one of the active magnetic field components from the magnetic field and to transmit the one active magnetic field component in an active sensor signal;

the plurality of filter/preamplifier assemblies each are further adapted to receive one of the active sensor signals from the magnetic field sensors, to filter signal components from the received active sensor signal, and to amplify the received active sensor signal; and

the plurality of filter/amplifier assemblies each are further adapted to receive one of the active sensor signals from the filter/preamplifier assemblies, to filter spectral components from the received active sensor signal, and to amplify the received active sensor signal before the received active sensor signal is transmitted to the processor.

18. The detection system of claim 17 wherein one of the plurality of filter/amplifier assemblies comprises a bandpass filter/amplifier adapted to filter out signal components that are not within a designated frequency band of the bandpass filter/amplifier.

19. The detection system of claim 16 wherein the orientation comprises a distance.

20. The detection system of claim 16 wherein the orientation comprises a rotation angle.

21. The detection system of claim 1 further comprising a trenching assembly adapted to house the detection module.

22. The detection system of claim 21 wherein the trenching assembly comprises a backhoe assembly.

23. The detection system of claim 21 wherein the trenching assembly comprises a trenching tool.

24. The detection system of claim 1 further comprising a boring assembly adapted to house the detection module.

25. A detection system for use in boring or trenching to detect an object in an area of the boring or trenching having a detection module comprising:

a magnetic sensor assembly adapted to detect magnetic field components from an active magnetic field emanating from the object and to transmit the magnetic field components; and

a processor adapted to receive the magnetic field components that are from the magnetic sensor assembly, to reproject the magnetic field components to a consistent reference plane to remove angular influence from the magnetic field components, and to process the magnetic field components to determine an orientation of the detection module with respect to the object.

26. The detection system of claim 25 wherein the detection module further comprises:

an analog/digital converter adapted to receive the magnetic field components in an analog format, to convert the magnetic field components to a digital format, and to transfer the magnetic field components to the processor in the digital format; and

a multiplexer adapted to receive the magnetic field components from the magnetic sensor assembly and to transfer the magnetic field components to the analog/digital converter.

27. The detection system of claim 25 wherein the detection module further comprises an output interface adapted to transfer the orientation in process data from the detection module.

28. The detection system of claim 25 wherein the output interface comprises:

a tank adapted to transmit process data from the detection module using a frequency;

a tank regulator adapted to regulate power to the tank; and

a frequency driver adapted to generate and to modulate the frequency that is provided to the tank.

29. The detection system of claim 25 wherein the frequency driver comprises:

an oscillator/frequency counter adapted to generate an oscillating frequency signal;

a pair of field effect transistors adapted to receive power from the tank regulator and to provide the power to the tank when gated; and

a gate driver adapted to gate the field effect transistors based upon a phase of the frequency signal from the oscillator/frequency counter and a control signal from the processor.

30. The detection system of claim 25 wherein the detection module further comprises an input interface adapted to accept data from a device external to the detection module and to transfer the data to the processor.

31. The detection system of claim 25 wherein the detection module further comprises an optional sensor assembly adapted to detect at last one of navigation information and environmental information and to transfer the information to the processor.

32. The detection system of claim 31 wherein the optional sensor assembly comprises a roll sensor adapted to detect roll data and to transmit the roll data to the processor.

33. The detection system of claim 31 wherein the optional sensor assembly comprises a pitch sensor assembly adapted to detect pitch data and to transmit the pitch data to the processor.

34. The detection system of claim 31 wherein the optional sensor assembly comprises a temperature sensor adapted to collect temperature data and to transmit the temperature data to the processor.

35. The detection system of claim 25 wherein the magnetic sensor assembly comprises:

a plurality of magnetic field sensors each adapted to detect one of the magnetic field components from the magnetic field and to transmit the one magnetic field component in a sensor signal;

a plurality of filter/preamplifier assemblies each adapted to receive one of the sensor signals from the magnetic field sensors, to filter signal components from the received sensor signal, and to amplify the received sensor signal; and

a plurality of filter/amplifier assemblies each adapted to receive one of the sensor signals from the filter/preamplifier assemblies, to filter spectral components from the received sensor signal, and to amplify the received sensor signal before the received sensor signal is transmitted to the processor.

36. The detection system of claim 35 wherein one of the plurality of filter/amplifier assemblies comprises a bandpass filter/amplifier adapted to filter out signal components that are not within a designated frequency band of the bandpass filter/amplifier.

37. The detection system of claim 35 wherein the magnetic sensor assembly further comprises a plurality of detectors each adapted to receive a sensor signal from one of the filter/amplifier assemblies, to extract sampled data from the received sensor signals, and to transmit the sampled data to the processor as the received sensor signal.

38. The detection system of claim 37 wherein one of the detectors comprises a peak detector.

39. The detection system of claim 37 wherein one of the detectors comprises a sampled-data system.

40. The detection system of claim 25 wherein:

the magnetic sensor assembly further is adapted to detect magnetic field components from a passive magnetic field distortion and to transmit the passive magnetic field components; and

the processor further is adapted to receive the passive magnetic field components from the magnetic sensor assembly, to process the passive magnetic field components to determine the total magnetic field of the passive magnetic field distortion, and to compare the total magnetic field to a setpoint to determine if the total magnetic field varies from the setpoint by more than a designated tolerance to determine if the passive magnetic field distortion is within a designated distance of the detection module.

41. The detection system of claim 40 wherein:

the plurality of magnetic field sensors each are further adapted to detect one of the passive magnetic field components from the magnetic field and to transmit the one passive magnetic field component in a passive sensor signal;

the plurality of filter/preamplifier assemblies each are further adapted to receive one of the passive sensor signals from the magnetic field sensors, to filter signal components from the received passive sensor signal, and to amplify the received passive sensor signal; and

the plurality of filter/amplifier assemblies each are further adapted to receive one of the passive sensor signals from the filter/preamplifier assemblies, to filter spectral components from the received passive sensor signal, and to amplify the received passive sensor signal before the received passive sensor signal is transmitted to the processor.

42. The detection system of claim 41 wherein one of the plurality of filter/amplifier assemblies comprises a lowpass filter/amplifier adapted to filter out signal components above a designated frequency.

43. The detection system of claim 25 wherein the orientation comprises a distance.

44. The detection system of claim 25 wherein the orientation comprises a rotation angle.

45. The detection system of claim 25 further comprising a trenching assembly adapted to house the detection module.

46. The detection system of claim 45 wherein the trenching assembly comprises a bachhoe assembly.

47. The detection system of claim 45 wherein the trenching assembly comprises a trenching tool.

48. The detection system of claim 25 further comprising a boring assembly adapted to house the detection module.

49. The detection system of claim 25 further comprising a signal generator adapted to impress a signal onto the object so that it emanates the active magnetic field.

50. A detection module for detecting an object in an area near the detection module comprising:

a plurality of magnetic field sensors each adapted to detect a magnetic field component from a magnetic field characteristic indicative of the object and to transmit the magnetic field component in a sensor signal;

a plurality of filter/preamplifier assemblies each adapted to receive one of the sensor signals from the magnetic field sensors, to filter signal components from the received sensor signal, and to amplify the received sensor signal;

a plurality of filter/amplifier assemblies each adapted to receive one of the sensor signals from the filter preamplifier assemblies, to filter spectral components from the received sensor signal, and to amplify the received sensor signal; and

a processor adapted to receive the sensor signals from the filter/amplifier assemblies and to process the magnetic field components in the sensor signals to determine the orientation of the detection module to the object.

51. The detection system of claim 50 wherein one of the plurality of filter/amplifier assemblies comprises a lowpass filter/amplifier adapted to filter out signal components from the received sensor signal above a designated frequency.

52. The detection system of claim 50 wherein one of the plurality of filter/amplifier assemblies comprises a bandpass filter/amplifier adapted to filter out signal components from the received sensor signal that are not within a designated frequency band of the bandpass filter/amplifier.

53. The detection system of claim 50 wherein the detection module further comprises a plurality of detectors each adapted to receive a sensor signal from one of the filter/amplifier assemblies, to extract sampled data from the received sensor signal, and to transmit the sampled data to the processor as the received sensor signal.

54. The detection system of claim 53 wherein one of the detectors comprises a peak detector.

55. The detection system of claim 53 wherein one of the detectors comprises a sampled-data system.

56. A method for detecting an object in an area near boring or trenching comprising:

determining a setpoint for a magnetic field of an area;

detecting a plurality of magnetic field components for a magnetic field characteristic caused by the object in the area;

processing the magnetic field components to determine a total magnetic field for the area; and

determining if the total magnetic field varies from the setpoint by more than a designated tolerance to determine if the object is within the area.

57. The method of claim 56 further comprising transmitting the total magnetic field in process data.

58. The method of claim 57 wherein transmitting the process data comprises transmitting the process data using a radio frequency.

59. The method of claim 57 wherein transmitting the process data comprises transmitting the process data using a telemetry.

60. The method of claim 57 further comprising receiving the process data at a receiver.

61. The method of claim 56 further comprising detecting pitch data and processing the pitch data to determine a pitch angle.

62. The method of claim 56 further comprising detecting roll data and processing the pitch data to determine a roll angle.

63. The method of claim 56 further comprising using the magnetic field components to determine compass navigation information.

64. A method for detecting an object in an area near a detection module comprising:

detecting a plurality of magnetic field components for an active magnetic field from the object in the area; and

processing the magnetic field components to determine the orientation of the detection module with respect to the active magnetic field, thereby determining the orientation of the detection module to the object;

wherein the processing step comprises reprojecting the magnetic field components to a consistent reference plane to remove angular influence from the magnetic field components.

65. The method of claim 64 further comprising transmitting the total magnetic field in process data.

66. The method of claim 65 wherein transmitting the process data comprises transmitting the process data using a radio frequency.

67. The method of claim 65 wherein transmitting the process data comprises transmitting the process data using a telemetry.

68. The method of claim 65 further comprising receiving the process data at a receiver.

69. The method of claim 64 further comprising detecting pitch data, processing the pitch data to determine a pitch angle, and using the pitch angle to reproject the magnetic field components to the consistent reference plane.

70. The method of claim 64 further comprising detecting roll data, processing the roll data to determine a roll angle, and using the roll angle to reproject the magnetic field components to the consistent reference plane.

71. The method of claim 64 further comprising using the magnetic field components to determine compass navigation information.

72. The method of claim 64 further comprising impressing a signal on the object so that the active magnetic field emanates from the object.

73. A boring or trenching machine comprising:

an assembly adapted for use in at least one of boring or trenching, the assembly comprising a tool for boring or trenching; and

a detection system located in the assembly and adapted to detect an object, the detection system having a detection module comprising;

a magnetic sensor assembly adapted to detect magnetic field components from a magnetic field characteristic associated with the object and to transmit the magnetic field components; and

a processor adapted to receive the magnetic field components that are detected by the magnetic sensor assembly and to process the magnetic field components to determine the orientation of the tool relative to the object, wherein the orientation determination of the tool is processed independent from a prior determination and is not an incremental correction.

74. The system of claim 73 wherein the assembly comprises a trenching assembly.

75. The system of claim 73 wherein the assembly comprises a boring assembly.

76. The system of claim 73 wherein the magnetic field component comprises an active magnetic field and wherein the processor is programmed to determine the total magnetic field of a passive magnetic field distortion and to compare the total magnetic field to a setpoint to determine if the total magnetic field varies from the setpoint by more than a designated tolerance to determine if the passive magnetic field distortion is within a designated distance of the detection module, thereby determining the orientation by determining if the object is within the designated distance of the detection module.

77. The system of claim 73 wherein the magnetic field component comprises an active magnetic field and wherein the processor further is adapted to reproject the magnetic field components to a consistent reference plane to remove angular influence from the magnetic field components.

78. The system of claim 77 wherein the processor is adapted to determine a rotation angle as the orientation.

79. The system of claim 77 wherein the processor is adapted to determine a distance as the orientation.

80. The system of claim 73 wherein the processor further is adapted to process the magnetic field components to determine compass navigation information.

81. A detection system for use with a boring or trenching tool to detect an object in an area of the boring or trenching having a detection module comprising:

a magnetic sensor assembly adapted to detect magnetic field components from a magnetic field characteristic associated with the object and to transmit the magnetic field components; and

a processor adapted to receive the magnetic field components that are detected by the magnetic sensor assembly and to process the magnetic field components to determine the orientation of the tool relative to the object, wherein the orientation determination of the tool is processed independent from a prior determination and is not an incremental correction.

82. An assembly for use in boring or trenching comprising:

a tool for boring or trenching; and

a detection system adapted to detect an object, the detection system comprising;

a magnetic sensor assembly adapted to detect magnetic field components from a magnetic field characteristic associated with the object and to transmit the magnetic field components; and

a processor adapted to receive the magnetic field components that are detected by the magnetic sensor assembly and to process the magnetic field components to determine the orientation of the tool relative to the object, wherein the orientation determination of the tool is processed independent from a prior determination and is not an incremental correction.