Boring tool tracking/guiding system and method with unconstrained target location geometry
First Claim
1. In a system for tracking a boring tool that is configured for transmitting a dipole locating signal within an underground region where movement of the boring tool is characterized by certain orientation parameters including pitch and yaw and which system is configured at least for establishing the pitch and yaw orientation of the boring tool, a method comprising the steps ofaccepting a target position to which the boring tool is to be guided including a target pitch orientation and a target roll orientation;
- measuring the locating signal at a receiving position as well as the pitch and yaw orientations of the boring tool; and
generating steering commands for use in guiding the boring tool to the target location using measured values of the locating signal taken at the receiving position, measured pitch and yaw orientations of the boring tool, the target pitch orientation and the target yaw orientation.
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Accused Products
Abstract
Tracking a boring tool is performed within an underground region using a locating signal. The boring tool is moved through the ground during a series of distance movements such that potential movement of the boring tool during any one of the distance movements is less than a maximum movement value. A current positional relationship is determined for a current one of the distance movements based on: a last-determined positional relationship established for an immediately preceding one of the distance movements, certain orientation parameters, the maximum movement value and the determined signal strength of the locating signal in the current positional relationship. Target coordinates are accepted and a target position, based on the target coordinates, is included as part of the current positional relationship. The position of the target is unconstrained with respect to system geometry. Steering command features are provided along with steering warnings.
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Citations
16 Claims
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1. In a system for tracking a boring tool that is configured for transmitting a dipole locating signal within an underground region where movement of the boring tool is characterized by certain orientation parameters including pitch and yaw and which system is configured at least for establishing the pitch and yaw orientation of the boring tool, a method comprising the steps of
accepting a target position to which the boring tool is to be guided including a target pitch orientation and a target roll orientation; -
measuring the locating signal at a receiving position as well as the pitch and yaw orientations of the boring tool; and
generating steering commands for use in guiding the boring tool to the target location using measured values of the locating signal taken at the receiving position, measured pitch and yaw orientations of the boring tool, the target pitch orientation and the target yaw orientation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. In a system for tracking a boring tool that is configured for transmitting a dipole locating signal within an underground region where movement of the boring tool is characterized by certain orientation parameters including pitch and yaw and which system is configured at least for establishing the pitch and yaw orientations of the boring tool, an assembly comprising:
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means for accepting a target location to which the boring tool is to be guided including a target pitch orientation and a target roll orientation;
receiving means for measuring the locating signal at a receiving position; and
processing means for generating steering commands for use in guiding the boring tool to the target location using measured values of the locating signal taken at the receiving position by said receiving means, measurements of the pitch and yaw orientations of the boring tool, the target pitch orientation and the target yaw orientation. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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Specification