Horizontal directional drilling machine and method employing configurable ...

(54) HORIZONTAL DIRECTIONAL DRILLING
MACHINE AND METHOD EMPLOYING
CONFIGURABLE TRACKING SYSTEM
INTERFACE

(75) Inventors: Kevin L. Alft, Pella, IA (US); Gregory W. Draper, Pella, IA (US); Hans Kelpe, Pella, IA (US)

(73) Assignee: Vermeer Manufacturing Company,

Pella, IA (US)

( * ) Notice: Subject to any disclaimer, the term of this patent is extended or adjusted under 35 U.S.C. 154(b) by 0 days.

(21) Appl. No.: 09/867,952

(22) Filed: May 30, 2001

(65) Prior Publication Data

US 2002/0005297 Al Jan. 17, 2002

Related U.S. Application Data

(62) Division of application No. 09/405,890, filed on Sep. 24, 1999, now Pat. No. 6,315,062.

(51) Int. C I. F21B 7/00

(52) U.S. CI 175/45; 166/255.2

(58) Field of Search 702/6, 7, 9, 16;

324/369; 367/81, 92; 175/48, 50, 24, 95, 25, 27, 29; 166/255.2, 250.16; 73/152,

46

(56) References Cited

U.S. PATENT DOCUMENTS

A system and method for controlling an underground boring tool involves the use of one or more of a gyroscope, accelerometer, and magnetometer sensor provided in or proximate the boring tool. The location of the boring tool is detected substantially in real-time. A controller produces a control signal substantially in real-time in response to the detected boring tool location and sensed parameters of a boring tool driving apparatus. The control signal is applied to the driving apparatus to control one or both of a rate and a direction of boring tool movement along the underground path. The gyroscope, accelerometer, and magnetometers may be of a conventional design, but are preferably of a solid-state design. Telemetry data is communicated electromagnetically, optically or capacitively between the navigation sensors at the boring tool and the controller via the drill string or an above-ground tracker unit. The tracker unit may further include a re-calibration unit which communicatively cooperates with the navigation sensors to reestablish a proper heading or orientation of the boring tool if needed. The controller determines a location of the boring tool in at least two of x-, y-, and z-plane coordinates and may also determine an orientation of the boring tool in at least two of yaw, pitch, and roll. A hand-held remote unit may be used by an operator to control all or a sub-set of boring system functions.

28 Claims, 24 Drawing Sheets

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