Automatic path generation and correction system
AssigneeThe Charles Machine Works, Inc.
InventorDaniel T. Umbach
Life of this patent
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Abstract
A method for generating a new or corrected horizontal underground bore path from a point below ground for use with a horizontal boring machine. In the preferred embodiment, orientation and depth measurements for a boring tool located below ground are recorded. The current position of the boring tool is determined using a previously determined position, measured orientation of the boring tool, and calculating for pipe bend characteristics. Previous measurements and determined positions are recorded to provide a map of the bore. A new path is calculated using the current position as a starting point and through predetermined critical points for the bore. Instructions for drilling the next segment of the bore are made available to an operator or to a control system for a boring machine.
Claims32
A method for drilling a horizontal underground borehole, the method comprising:
- recording an orientation of a boring tool located below ground;
- calculating a projected position of the boring tool below ground using a bending model;
- and
- calculating a bore path from the projected position of the boring tool to a predetermined exit point.
A method for drilling a horizontal underground borehole with a boring tool, the method comprising:
- measuring a depth, pitch, and yaw of the boring tool;
- calculating a projected position of the boring tool using a bending model;
- calculating a bore path from the projected position of the boring tool to a next critical point;
- and
- calculating drilling instructions for the boring tool along a next segment of the bore path.
A method for drilling a horizontal underground borehole, the method comprising:
- recording an orientation of a boring tool located below ground;
- calculating a projected position of the boring tool below ground using a bending model;
- and
- calculating a bore path represented by a cubic spline from the projected position of the boring tool to a predetermined exit point.
A method for drilling a horizontal underground borehole with a boring tool, the method comprising:
- measuring a depth, pitch, and yaw of the boring tool;
- calculating a projected position of the boring tool using a bending model;
- calculating a bore path represented by a cubic spline from the projected position of the boring tool to a next critical point;
- and
- calculating drilling instructions for the boring tool along a next segment of the bore path.
Dependencies are inferred from the claim text.