Automated bore planning method and apparatus for horizontal directional drilling

• US 6,577,954 B2
• Filed: 04/12/2002
• Issued: 06/10/2003
• Est. Priority Date: 01/13/1999
• Status: Expired due to Term

• Current Assignee: Vermeer Manufacturing Company
• Original Assignee: Vermeer Manufacturing Company
• Inventors: Alft, Kevin L., Delonti, Fred G., Cartwright, Paul A., Rettig, Christopher Dean
• Primary Examiner(s): McElheny, Jr., Donald E.
• Application Number:
  US10/121,457
• Publication Number:
  US 20020116129A1
• Time in Patent Office: 424 Days
• Field of Search: 702/9, 702/6, 702/7, 175/45, 333/04
• 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

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.

2. The method of claim 1, 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.

3. The method of claim 2, wherein the one or more new target points are generated automatically.

4. The method of claim 2, wherein the one or more new target points are generated manually.

5. The method of claim 1, wherein receiving the actual bore path information comprises receiving the actual bore path information acquired from above ground.

6. The method of claim 1, wherein receiving the actual bore path information comprises receiving the actual bore path information acquired down-hole.

7. The method of claim 1, 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.

8. The method of claim 1, further comprising displaying the pre-established bore plan and the actual bore path.

9. The method of claim 1, further comprising displaying one or more of the pre-established bore plan, actual bore path, and modified bore plan.

10. The method of claim 1, 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.

11. The method of claim 1, further comprising validating the modified bore plan.

12. The method of claim 1, further comprising validating the modified bore plan to comply with one or more mechanical limitations associated with boring machine operation.

13. The method of claim 12, 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.

14. The method of claim 1, wherein receiving the actual bore path information comprises receiving geophysical information concerning the actual bore path.

15. The method of claim 14, wherein the geophysical information is acquired above ground.

16. The method of claim 14, wherein the geophysical information is acquired down hole.

17. The method of claim 1, 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.

18. The method of claim 1, 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.

19. The method of claim 1, wherein each of the target and new points is respectively defined by a distance value, left/right value, and a depth value.

20. 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.

21. The system of claim 20, 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.

22. The system of claim 20, 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.

23. The system of claim 20, wherein the interface is adapted to receive the actual bore path information from an above-ground locator.

24. The system of claim 20, wherein the interface is adapted to receive the actual bore path information from a down-hole sensor system.

25. The system of claim 20, 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.

26. The system of claim 20, wherein the processor validates the modified bore plan.

27. The system of claim 20, wherein the processor validates the modified bore plan to comply with one or more mechanical limitations associated with boring machine operation.

28. The system of claim 27, 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.

29. The system of claim 21, 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.

30. The system of claim 29, wherein the interface receives the geophysical information from an above-ground geophysical sensor system.

31. The system of claim 29, wherein the interface receives the geophysical information from a down-hole geophysical sensor system.

32. The system of claim 20, 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.

33. The system of claim 20, 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.

34. The system of claim 20, wherein each of the target and new points is respectively defined by a distance value, left/right value, and a depth value.