Derivative imaging for subsurface object detection

• US 9,459,374 B2
• Filed: 04/08/2014
• Issued: 10/04/2016
• Est. Priority Date: 02/14/2010
• Status: Active Grant

• Current Assignee: Vermeer Manufacturing Company
• Original Assignee: Vermeer Manufacturing Company
• Inventors: Haddad, Waleed Sami
• Primary Examiner(s): Raymond, Edward
• Application Number:
  US14/248,001
• Publication Number:
  US 20140219511A1
• Time in Patent Office: 910 Days
• Field of Search: 702/7, 702/6, 702/1, 702/3, 702/14, 702182-185, 702/188
• US Class Current: 1/1
• CPC Class Codes: G01S 13/885 for ground probing prospecting or detecting using electromagnetic waves G01V3/12
• CPC Class Codes: G01S 13/9027 Pattern recognition for feature extraction
• CPC Class Codes: G01S 13/9094 Theoretical aspects
• CPC Class Codes: G01V 11/002 Details, e.g. power supply systems for logging instruments, transmitting or recording data, specially adapted for well logging, also if the prospecting method is irrelevant means for transmitting well survey signals E21B47/12; signal transmission systems in general G08C; transmission in general H04B
• CPC Class Codes: G01V 3/14 operating with electron or nuclear magnetic resonance
• CPC Class Codes: G01V 3/17 operating with electromagnetic waves operating with millimetre waves G01V8/005
• CPC Class Codes: G06T 2200/21 involving computational photography
• CPC Class Codes: G06T 2207/30181 Earth observation
• CPC Class Codes: G06T 7/38 Registration of image sequences
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass

Abstract

A series of scans is generated for a subsurface and a derivative image is created using the series of subsurface images. One or more tests are performed on the derivative image, and a subsurface object is detected based on the one or more tests. A sensor is configured to generate a series of scans for a subsurface and a processor is coupled to the sensor. The processor is configured to execute stored program instructions that cause the processor to generate a series of images of the subsurface using the series of scans, create a derivative image using the series of subsurface images, perform one or more tests on the derivative image, and detect a subsurface object based on the one or more tests.

Claims

1. A method, comprising:

generating, using a sensor, a series of scans for a subsurface while conducting a survey;

creating, while conducting the survey, a derivative image using a processor operating on the series of subsurface scans;

performing one or more tests on the derivative image using the processor; and

detecting, using the processor, a subsurface object based on the one or more tests.

2. The method of claim 1, wherein:

the series of scans is generated by a source; and

detecting the subsurface object comprises detecting a change in relative distance between the source and the subsurface object in advance of contact therebetween based on the one or more tests.

3. The method of claim 1, wherein the method is implemented as part of a horizontal directional drilling process.

4. The method of claim 1, wherein detecting the subsurface object comprises:

sensing for the subsurface object within a predetermined detection zone; and

ignoring subsurface objects for detection that are beyond the detection zone.

5. The method of claim 1, comprising producing a human-perceivable output while conducting the survey in response to detecting the subsurface object.

6. A method, comprising:

generating, using a sensor, a series of scans for a subsurface;

creating a derivative image in real time using a processor operating on the series of scans, the derivative image being associated with underground object information; and

producing, by the processor, real time underground object information while generating the series of scans and creating the derivative image.

7. The method of claim 6, wherein the underground object information comprises information about presence and location of an underground object.

8. The method of claim 6, comprising generating, in real time, a human-perceivable output using the underground object information.

9. A method, comprising:

moving a drill head along an underground path during a drilling operation;

generating, using a sensor, a series of scans for a subsurface that includes the underground path;

creating a derivative image using a processor operating on the series of scans;

performing one or more tests on the derivative image using the processor; and

generating, using the processor during the drilling operation, an output indicating presence of a subsurface object proximate the drill head based on the one or more tests.

10. The method of claim 9, wherein the output indicates distance and azimuthal direction to the subsurface object.

11. The method of claim 9, comprising displaying, during the drilling operation, a graphical representation that includes the subsurface object using the output.

12. The method of claim 11, comprising:

presenting one or more markers in the graphical representation in response to meeting criteria for the existence of the subsurface object in proximity to the drill head;

wherein the number of markers presented in the graphical representation is indicative of a level of confidence in correctly detecting the subsurface object.

13. A method, comprising:

generating, using a sensor at-ground or above-ground, a series of scans for a subsurface, each scan generated for a different location of the subsurface;

compiling an image using a processor operating on the scans on a scan-by-scan basis;

determining, using the processor, a change in the compiled image as the compiled image evolves; and

detecting, using the processor, a subsurface object based on the change in the compiled image.

14. The method of claim 13, wherein the method is implemented in real time while surveying the subsurface from at- or above-ground.

15. The method of claim 13, comprising generating, in real time, a human-perceivable indication in response to detecting the subsurface object.

16. The method of claim 13, comprising:

displaying a graphical representation that includes the subsurface object; and

presenting one or more markers in the graphical representation in response to meeting criteria for the existence of the subsurface object;

wherein the number of markers presented in the graphical representation is indicative of a level of confidence of correctly detecting the subsurface object.

17. A system, comprising:

a housing configured for at-ground or above-ground portability;

a sensor supported by the housing and configured to generate a series of scans for a subsurface from at-ground or above-ground, each scan generated for a different location of the subsurface; and

a processor configured to compile an image using the scans on a scan-by-scan basis, determine a change in the compiled image as the compiled image evolves, and detect a subsurface object based on the change in the compiled image.

18. The system of claim 17, wherein the housing is coupled to a structure movable over ground.

19. The system of claim 17, comprising a display coupled to the processor and configured to generate, in real time, a visually perceivable indication in response to detecting the subsurface object.

20. The system of claim 17, comprising:

a display coupled to the processor and configured to display a graphical representation that includes the subsurface object, wherein;

the processor is configured to present one or more markers in the graphical representation in response to meeting criteria for the existence of the subsurface object; and

the number of markers presented in the graphical representation is indicative of a level of confidence in the processor correctly detecting the subsurface object.