Boring tool tracking/guiding system and method with unconstrained target location geometry
First Claim
1. In a system for tracking a boring tool within an underground region using a portable locator, in which system the boring tool is configured for transmitting a dipole locating signal and where the position of the boring tool is characterized, at least in part, by certain orientation parameters which are transmitted from the boring tool, a method comprising:
- from a first position, moving the boring tool to a second position during a time interval, said first position forming part of a first positional relationship relative to the portable locator at a locator position;
with the boring tool at the second position, measuring a signal strength of the locating signal with the portable locator and receiving said certain orientation parameters from the boring tool with the portable locator;
establishing a maximum movement value for the boring tool such that any potential movement of the boring tool over the time interval is less than the maximum movement value and saving the maximum movement value in the portable locator; and
based on the first positional relationship, said certain orientation parameters, the maximum movement value and the determined signal strength of the locating signal as received by the portable locator with the boring tool at the second position, configuring the portable locator for determining a second positional relationship including the boring tool at the second position relative to the portable locator at the locator position.
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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
20 Claims
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1. In a system for tracking a boring tool within an underground region using a portable locator, in which system the boring tool is configured for transmitting a dipole locating signal and where the position of the boring tool is characterized, at least in part, by certain orientation parameters which are transmitted from the boring tool, a method comprising:
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from a first position, moving the boring tool to a second position during a time interval, said first position forming part of a first positional relationship relative to the portable locator at a locator position; with the boring tool at the second position, measuring a signal strength of the locating signal with the portable locator and receiving said certain orientation parameters from the boring tool with the portable locator; establishing a maximum movement value for the boring tool such that any potential movement of the boring tool over the time interval is less than the maximum movement value and saving the maximum movement value in the portable locator; and based on the first positional relationship, said certain orientation parameters, the maximum movement value and the determined signal strength of the locating signal as received by the portable locator with the boring tool at the second position, configuring the portable locator for determining a second positional relationship including the boring tool at the second position relative to the portable locator at the locator position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. In a system for tracking a boring tool within an underground region, in which system the boring tool is configured for transmitting a dipole locating signal and where the position of the boring tool is characterized, at least in part, by certain orientation parameters which are transmitted from the boring tool, a locator comprising:
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a receiver for measuring a signal strength of the locating signal at a receiving position and for receiving said certain orientation parameters of the boring tool after moving the boring tool during a time interval from a first position, forming part of a first positional relationship relative to the receiving position, to a second position, where the boring tool is subject to a maximum movement value such that any potential movement of the boring tool over the time interval is less than the maximum movement value; and a processor for determining a second positional relationship of the boring tool at the second position relative to the receiving position based on the first positional relationship, said certain orientation parameters, the maximum movement value and the determined signal strength of the locating signal at the second position. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. 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, a locator comprising:
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a user input that is configured for accepting a target location to which the boring tool is to be guided including a target pitch orientation and a target roll orientation; a receiver for measuring the locating signal at a receiving position of the locator; and a processor that is configured 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 receiver, measurements of the pitch and yaw orientations of the boring tool, the target pitch orientation and the target yaw orientation.
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Specification