EP0428180A1 - Kontrollsystem zum Leiten von Bohrwerkzeugen und Messsystem, diese zu lokalisieren - Google Patents

Kontrollsystem zum Leiten von Bohrwerkzeugen und Messsystem, diese zu lokalisieren Download PDF

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Publication number
EP0428180A1
EP0428180A1 EP90122530A EP90122530A EP0428180A1 EP 0428180 A1 EP0428180 A1 EP 0428180A1 EP 90122530 A EP90122530 A EP 90122530A EP 90122530 A EP90122530 A EP 90122530A EP 0428180 A1 EP0428180 A1 EP 0428180A1
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EP
European Patent Office
Prior art keywords
axis
tool
sensing assembly
axial
coil
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP90122530A
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English (en)
French (fr)
Other versions
EP0428180B1 (de
Inventor
Gerard T. Pittard
William C. Maurer
Gregory C. Givler
William J. Mcdonald
John H. Cohen
Joseph O. Enk
Jack E. Bridges
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GTI Energy
Original Assignee
Gas Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US06/720,582 external-priority patent/US4632191A/en
Priority claimed from US06/722,807 external-priority patent/US4646277A/en
Priority claimed from US06/723,792 external-priority patent/US4621698A/en
Application filed by Gas Research Institute filed Critical Gas Research Institute
Publication of EP0428180A1 publication Critical patent/EP0428180A1/de
Application granted granted Critical
Publication of EP0428180B1 publication Critical patent/EP0428180B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/26—Drilling without earth removal, e.g. with self-propelled burrowing devices
    • E21B7/267—Drilling devices with senders, e.g. radio-transmitters for position of drilling tool
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B4/00—Drives for drilling, used in the borehole
    • E21B4/06—Down-hole impacting means, e.g. hammers
    • E21B4/14—Fluid operated hammers
    • E21B4/145—Fluid operated hammers of the self propelled-type, e.g. with a reverse mode to retract the device from the hole
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/02—Determining slope or direction
    • E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
    • E21B47/0228—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/12—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling
    • E21B47/13—Means for transmitting measuring-signals or control signals from the well to the surface, or from the surface to the well, e.g. for logging while drilling by electromagnetic energy, e.g. radio frequency
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/04—Directional drilling
    • E21B7/06—Deflecting the direction of boreholes
    • E21B7/068—Deflecting the direction of boreholes drilled by a down-hole drilling motor

Definitions

  • This invention relates generally to control systems for guiding boring tools, and also to sensing systems for locating boring tools.
  • Conventional pneumatic and hydraulic percussion moles are designed to pierce and compact compressible soils for the installation of underground utilities without the necessity of digging large launching and retrieval pits, open cutting of pavement or reclamation of large areas of land.
  • An inter­nal striker or hammer reciprocates under the action of com­pressed air or hydraulic fluid to deliver high energy blows to the inner face of the body. These blows propel the tool through the soil to form an earthen casing within the soil that remains open to allow laying of cable or conduit.
  • Bell Laboratories in Chester, New Jer­sey, conducted research trying to develop a method of steer­ing and tracking moles.
  • a 10.2 cm Schramm Pneumagopher was fitted with two steering fins and three mutually orthogonal coils which were used in conjunction with a surface antenna to track the position of the tool.
  • One of these fins was fixed and inclined from the tool's longitudinal axis while the other fin was rotatable.
  • Two boring modes could be obtained with this system by changing the position of the rotatable fin relative to the fixed fin. These were (1) a roll mode in which the mole was caused to rotate about its longitudinal center line as it advanced into the soil and (2) a steering mode in which the mole was directed to bore in a curved path.
  • the roll mode was used for both straight boring and as a means for selectively positioning the angular orienta­tion of the fins for subsequent changes in the bore path.
  • Rotation of the mole was induced by bringing the rotatable fin into an anti-parallel alignment with the fixed fin. This positioning results in the generation of a force couple which initiates and maintains rotation.
  • the steering mode was actuated by locating the rota­table fin parallel to the fixed fin. As the mole penetrates the soil, the outer surfaces of the oncoming fins are brought into contact with the soil and a "slipping wedge” mechanism created. This motion caused the mole to veer in the same direction as the fins point when viewed from the back of the tool.
  • Typical well surveying equipment utilizes magnetometers, inclinome­ters and inertial guidance systems which are complex and expensive.
  • the wells drilled are substantially vertical.
  • Bell Telephone Laboratories Incorporated has designed a system for boring horizontal holes wherein the direction of drilling is controlled by deploying a three wire antenna system on the surface of the earth and detecting the position and attitude of the drilling tool in respect thereto by pickup coils on the tool. The signals detected are then used to develop control signals for controlling the steering of the tool. See, for example, MacPherson United States Patent No. 3,656,161. Such control systems have been relatively expensive, and it is no always easy or convenient to deploy the antenna, for example, over a busy highway.
  • Steering control is also known in controlling ve­hicles, aircraft and missiles.
  • a radio beacon is used for guidance the aircraft simply foil-­owing a beacon to a runway.
  • Another object of this invention is to provide a steering system which will enable a horizontal boring tool to travel over great distances and reliably hit a small target.
  • a further object of this invention is to provide an improved control system for monitoring and controlling the direction of a percussion boring tool.
  • a guided horizontal boring tool constructed in accordance with the present invention will benefit utilities and rate payers by significantly reducing installation and maintenance costs of underground utilities by reducing the use of expensive, open-cut trenching methods.
  • the present invention provides a control system for guiding a boring tool in a bore hole, characterised in that the tool has a longitudinal tool axis and includes motive means for advancing the tool axially through the earth and steering means for directing the motion of the tool relative to said axis in response to control signals, said control system compromising, axial electromagnetic source means for generating an axial alternating magnetic field directed along an axial source axis; a sensing assembly remote from said source means and including first and second pickup coils for sensing said alternating magnetic field, each of said first and second pickup coils, being responsive to the change of magnetic flux linked thereby by generating respective first and second electrical signals systematically related thereto, having a respective coil axis and being rigidly mounted in respect to the other with their respective axes at a substantial angle with respect to each other, and defining a sensing assembly axis substantially normal to both said coil axes, being balanced in respect to said sensing assembly axis to generate a respective null electrical signal when the lines of magnetic flux at the
  • a sensing system for locating a boring tool in a bore hole, characterised in that the tool has a longitudinal tool axis and includes motive means for advancing the tool axially through the earth, said sensing comprising, axial electromagnetic source means for generating an axial alternating magnetic field directed along an axial source axis; a sensing assembly remote from said source means and including first and second pickup coils for sensing said alternating magnetic field, each of said first and second pickup coils being responsive to the change of magnetic flux linked thereby by generating respective first and second electrical signals systematically elated thereto, having a respective coil axis and being rigidly mounted in respect to the other with their respective axes at a substantial angle with respect to each other, and defining a sensing assembly axis substantially normal to both said coil axes, being balanced in respect to said sensing assembly axis to generate a respective null electrical signal when the lines of magnetic flux at the respective coil are normal to the respective coil axis at said sensing assembly
  • the control system for a percussion boring tool includes a coil disposed on the tool and energised at relatively low frequency to provide a varying magnetic field extending axially from the tool and providing lines of magnetic flux substantially symmetrically disposed about the tool axis.
  • First and second pickup coils are disposed at a distance from the tool. These coils have respective axes at a substantial angle with respect to each other and are mounted to sense the changing flux linked thereby and produce respective first and second electrical signals.
  • the coil arrangement provides respective null signals when the respective axes of the pickup coils lie substantially perpendicular to the tool axis and the coils are balanced about the tool axis. The signals therefore indicate the attitude of the tool relative to the coils.
  • a third pickup coil may be used to sense the range of the tool when the third coil has an axis extending generally toward the tool, with its output used to normalize the detection signals.
  • the axes of the three coils are preferably at angles of 90 o from each other.
  • the signals from the respective pickup coils may be used to determine the attitude of the tool relative to the pickup coils, and the information used to control the steer­ing mechanism of he tool. This may be done automatically. Because this is a null-based system, the control signal may simply operate the steering mechanism to turn the tool the reduce the deviation from null. This causes the system to be a homing device, like a beacon, and directs the tool along a path to the coils.
  • the system may then direct the tool out of the path, around an obstacle, and back on course.
  • an important aspect of the present invention is to provide a null detection system to determine the attitude of a horizontal boring tool relative to detection coils and for controlling the steering of the tool. Another aspect is to provide a control system for such a tool wherein the tool may be steered to home in on the detection coils.
  • This embodiment of the present invention relates to the control of the guidance of a percussion boring tool, especially using a magnetic sensing system or sensing tool location and attitude.
  • FIG. 1 is illustrated a horizontal boring operation in which a borehole 1210 is being bored through the earth 1212 under a roadway 1214 by a horizontal boring tool 1216.
  • the particular tool illustrated and for which the preferred embodiment of the present invention was specifically designed is a pneumatic percussion tool, operated like a jackhammer by a motive mechanism 1217 using compressed air supplied by a compressor 1218 by way of an air tank 1219 over a supply hose 1220.
  • the tool 1216 is elongated and has a tool axis 1222 extending in the direction of its length.
  • the lead end of the tool 1216 has a piercing point (or edge) 1224 eccentric of he axis 1222.
  • the operation of the percussion tool drives the point 1224 through the earth, advancing the tool forward, but slightly off axis.
  • the tool 1216 Includes a plurality of steering vanes 1226 which may be actuated by pneumatic or hydraulic control energy provided over pneumatic or hydraulic control lines 1228 from a controller 1230 to control the direction and rate rotation of he tool 1216 about Its axis. Control signals may also control the operation of the motive mechanism 1217.
  • the controller 1230 is supplied with air from the compressor 1218 over a bore 1232.
  • the steering vanes 1226 my be turned to cause the tool to rotate at a relatively constant rate. The tool then spirals a bit but advances in a substantially straight line in the direction of the axis 1222 because the piercing point 1224 circles the axis and causes the tool to deviate the same amount in each direction, averaging zero. If the vanes 1226 are returned to directions parallel to the axis 1222, the rotation may be stopped with the tool in a desired position, from which it advances asymmetrically in a desired direction.
  • the present invention permits an operator to identify the rotatonal orientation of the tool 1216 about its axis 1222, and, hence, to direct the advance of the tool.
  • the objective is to bore a hole 1210 relatively horizontally between an input pit 1234 and a tar­get pit 1236 beneath such obstacles as the roadway 1214.
  • the hole 1210 must avoid piercing other utility lines 1238 or sewers 1240 or other buried obstacles. These may be identi­fied and located from historical surveyor's drawings or may be located by some other means as by a metal detector or other proximity device 1242.
  • the present in­vention is directed to a control system for sensing the atti­tude of the tool 1216 and for controlling the steering vanes 1226 to direct the tool along the plotted course.
  • the con­trol system includes an electromagnetic source 1244 affixed to the tool 1216 for generating appropriate alternating mag­netic flux, a sensing assembly 1246 disposed in one of the pits 1234, 1236, preferably the target pit 1236, and circuit­ry in the controller 1230 which is powered from a motor-gen­erator set 1248.
  • the electromagnetic source 1244 comprises an axial coil 1250 and a transverse coil 1251 rigidly mounted on the tool 1216.
  • the coils 1250 and 1251 are alternatively energized from the motor-generator power source 1248 through a controlled power supply section 1252 of the controller 1230 over lines 1253.
  • the power source 1248 operates at a relatively low frequency, for ex­ample, 1220 Hz.
  • the axial coil 1250 generates an axial alternating magnetic field which produces lines of magnetic flux general­ly symmetrically about the axis 1222 of the tool 1216, as Illustrated in Fig. 3 .
  • the tool 1216 itself is constructed in such manner as to be compatible with the generation of such magnetic field and, indeed, to shape it appropriately.
  • the transverse coil 1251 generates a transaxial alternating magnetic field substantially orthogonal to the axis 1222 in fixed relation to the direction of deviation of the point 1224 from the axis 1222 and, hence, indicative of the direct­ion thereof.
  • the sensing assembly 1246 is formed of three orthog­onal pickup coils 1254, 1256 and 1258, as shown in Figs. 2 and 4, which may be called the X, Y and Z coils, respectivlyely. These pickup coils are axially sensitive and can be of the box or solenoidal forms shown in Figs. 2 and 4.
  • the center of the coils may be taken as the origin of a three-­dimensional coordinate system of coordinate system of coord­inates x, y, z, where x is the general direction of the bore­hole, y is vertical and z is horizontal.
  • the coils 1254, 1256 and 1258 have respective axes extending from the origin of the coordinate ystem in the respective x, y and z direct­ions.
  • Figs. 3A, 3B, 3C and 3D are illustrated four possible unique relationships of a sensing coil, the Y coil 1256 as an example, to the lines of flux 60 of the axial magnetic field generated by the axial coil 1250 in the tool 1216.
  • Fig. 3 A is shown the relationship when the X axis and the tool axis 1222 lie in the same plane with the Y axis of he coil 1256 normal to that plane. That is the relation­ship when the tool 1216 lies on the plane XZ (the plane per­pendicular to the Y axis at the X axis) with the axis 1222 of the tool in that plane.
  • Fig. 3A the plane per­pendicular to the Y axis at the X axis
  • FIG. 3B is shown the relation­ship when the tool 1216 lies in the plane XZ with the tool axis 1222 not in that plane. That is the relationship when the tool 1216 is tilted up or down (up, clockwise, in the ex­ample illustrated).
  • Fig. 3C is shown the relationship when the tool 1216 is displaced up or down from the plane XZ (up, in the example illustrated) with the tool axis 1222 parallel to the plane XZ.
  • Other relationships involve com­binations of the relationships shown in figs. 3B and 3C; that is, where the tool 1216 lies off the XZ plane and has a component of motion transversely thereof.
  • Shown in Fig. 3D is the relationship where the combination of displacement (Fig. 3C) and tilting (Fig.
  • the pickup coil 1256 will generate no signal under the condition shown in Fig. 3 A because no flux links the coil.
  • signals will be generated, of phase dependent upon which direction the magnetic field is tilted or displac­ed from the condition shown in Fig. 3D.
  • the effect of displacement in one direction is exactly offset by tilting so as to generate no signal.
  • the tool 1216 is off course (off the XZ plane) but the relationship shown in Fig.
  • the tool will move toward the sensing assembly 1246 keeping the sensing assembly on a given line of flux 1260. That is, the tool 1216 will home in on the sensing assembly 1246 and get back on course vertical­ly. Similar relationships exist in respect to the Z coil 1258 and horizontal deviation.
  • the outputs of the pickup coils 1256, 1258 are applied through a signal conditioner 1262 to a display 1264 in the controller 1230.
  • FIG. 3 The relationships shown in Fig. 3 can also be anal­yzed geometrically as shown in Fig. 3 , where A is the angle between the tool axis 1222 and a line 1265 connecting the center of the tool with the center of the pickup coil 1256, and B is the angle between the line 1265 and the reference axis X, perpendicular to the axis Y of the sensing coil 1256.
  • B R 122 K1 cos A (1)
  • B A K1 sin A (2)
  • K1 is a constant proportional to the ampere-turns for the axial coil 1250 and inversely proportional to the cube of th distance between the tool 1216 and the sensing coil 1256.
  • the singal V thereupon developed in the pickup coil 1256 is proportional to the sum of flux components parallel to the coil axis Y.
  • the circuitry for operating the present invention is shown in greater detail in Fig. 4 in block diagram form.
  • the output of the pickup coil 1256 is amplified by an amplifier 1266 and applied to a synchronous detector 1268 to which the output of a regulated power supply 1270 is also applied.
  • the regulated power supply 1270 is driven by the same controlled power supply 1252 that drives the coils 1250, 1251 and produces an a.c. voltage of constant amplitude in fixed phase relationship to the voltage applied to the ax­ial coil 1250.
  • the synchronous detector 1268 therefore produces a d.c. output of magnitude proportional to the output of the Y coil 1256 and of polarity indicative of phase relative to that of the power supply 1270.
  • An amplifier 1272 and a syn­chronous detector 1274 produce a similar d. c. output corres­ponding to the output of the Z coil 1258.
  • the outputs of the respective synchronous detectors 1268 and 1274 are applied to the display 1264 which displays in y, z coordi-nates the combination of the two signals. This indicates the direction or attitude the tool is off course, permitting the operator to provide control signals over the control lines 1228 to return the tool to its proper course or to modify the course to avoid obstacles, as the case may be.
  • the extent to which the tool is off a course leading to the target is indicated by the magnitude of the signals produced in the coils 1256 and 1258.
  • the magnitude of the respective signals is also affected by the range of the tool. That is, the farther away the tool, the lesser the flux density and, hence, the lesser the signals generated in the respective pickup coils 1256 and 1258 for a given deviat­ion. It is he function of the X coil 1254 to remove this variable.
  • the X coil is sensitive to axial flux density sub­stantially exclusively.
  • the y and z directed flux components have negligible effect on its output where the tool 1216 lies within a few degrees of the x direction; e.g., 123.
  • the signal from the pickup coil 1254 is amplified by an amplifier 1276 and detected by a synchronous detector 1278 to provide a d. c. output proportional to the flux density strength at the X coil 1254.
  • This signal is applied to a control circuit 1280 which provides a field current control for the power supply 1252. This provides feedback to change the power applied to the axial coil 1250 in such direction as to maintain constant the output of the X coil 1254.
  • the power from the power supply 1252 is applied to the tool 1216 through a switch 1282.
  • the axial coil 1250 When in the switch 1282 position 121, the axial coil 1250 is energized, providing the mode of operation explained above. With the switch 1282 in position 122, the transverse coil 1251 is energized instead. The resulting magnetic field is substantially orthogonal to that provided by the axial coil 1250.
  • the signals generated by the Y and Z pickup coils 1256, 1258 then depend primarily upon the relative displace­ment of the coil 1251 around the axis 1222.
  • the displacement of the point is indicated by the relative magnitude of the respect­ive signals from the respective Y and Z coils as detected by the respective synchronous detectors 1268 and 1274 and, hence, is indicated on the display 1264.
  • the present invention is useful in a simple form when it is desirable simply to keep the tool on a straight course. This is achieved simply by directing the tool 1216 toward the sensing assembly 1246 while keeping the outputs picked up by the Y and Z coils 1256, 1258 nulled. As mentioned above, it is possible to deviate to avoid obstacles and then return to the course.
  • Equation (4) may not be simply approx­imated.
  • the initial tool orien­tation is determined by means of the sensor coils. Then the tool is allowed to advance an incremental distance, which is also measured. The new location is then determined based on the initial angle and the incremental amount of progress, and integration process. This process is continuously repeated for continuous determination of the position of the tool.
  • the sensing assembly 1246 may be moved from place to place or its orientation charged during boring in order to change course.
  • the sensor coils can be located on the tool and the source coils can be located on the tool and the source coils placed in either pit. It is also within the scope of the present invention to provide sensors on the tool 1216 for sensing obstacles, hence permit­ ting control of the direction of tool advance to avoid the obstacles.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Physics & Mathematics (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
  • Geophysics (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Earth Drilling (AREA)
  • Drilling Tools (AREA)
  • Drilling And Exploitation, And Mining Machines And Methods (AREA)
  • Drilling And Boring (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Geophysics And Detection Of Objects (AREA)
EP90122530A 1985-04-05 1986-04-04 Kontrollsystem zum Leiten von Bohrwerkzeugen und Messsystem, diese zu lokalisieren Expired - Lifetime EP0428180B1 (de)

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US720582 1985-04-05
US06/720,582 US4632191A (en) 1985-04-05 1985-04-05 Steering system for percussion boring tools
US722807 1985-04-12
US06/722,807 US4646277A (en) 1985-04-12 1985-04-12 Control for guiding a boring tool
US723792 1985-04-16
US06/723,792 US4621698A (en) 1985-04-16 1985-04-16 Percussion boring tool
EP86302534A EP0202013B1 (de) 1985-04-05 1986-04-04 Führungs- und Steuerungssystem für Schlagbohrwerkzeuge

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP86302534.2 Division 1986-04-04

Publications (2)

Publication Number Publication Date
EP0428180A1 true EP0428180A1 (de) 1991-05-22
EP0428180B1 EP0428180B1 (de) 1995-12-27

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Application Number Title Priority Date Filing Date
EP90122530A Expired - Lifetime EP0428180B1 (de) 1985-04-05 1986-04-04 Kontrollsystem zum Leiten von Bohrwerkzeugen und Messsystem, diese zu lokalisieren
EP90122531A Expired - Lifetime EP0428181B1 (de) 1985-04-05 1986-04-04 Schlagwerkzeug zum Bohren von Löchern in den Boden
EP86302534A Expired - Lifetime EP0202013B1 (de) 1985-04-05 1986-04-04 Führungs- und Steuerungssystem für Schlagbohrwerkzeuge

Family Applications After (2)

Application Number Title Priority Date Filing Date
EP90122531A Expired - Lifetime EP0428181B1 (de) 1985-04-05 1986-04-04 Schlagwerkzeug zum Bohren von Löchern in den Boden
EP86302534A Expired - Lifetime EP0202013B1 (de) 1985-04-05 1986-04-04 Führungs- und Steuerungssystem für Schlagbohrwerkzeuge

Country Status (5)

Country Link
EP (3) EP0428180B1 (de)
AT (3) ATE109866T1 (de)
AU (1) AU589615B2 (de)
CA (2) CA1255651A (de)
DE (3) DE3650461T2 (de)

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US5240350A (en) * 1990-03-08 1993-08-31 Kabushiki Kaisha Komatsu Seisakusho Apparatus for detecting position of underground excavator and magnetic field producing cable
US5692576A (en) * 1994-10-31 1997-12-02 Tracto -Technik Paul Schmidt Spezialmaschinen Kg Locating device for percussion boring machines
GB2341754A (en) * 1998-09-19 2000-03-22 Cryoton Adaptive control of power output from magnetic dipole and current dipole in drill string telemetry transmitter
WO2002006633A1 (en) * 2000-07-18 2002-01-24 The Charles Machine Works, Inc. Remote control for a drilling machine
US6871712B2 (en) 2001-07-18 2005-03-29 The Charles Machine Works, Inc. Remote control for a drilling machine
US7038454B2 (en) * 1997-12-30 2006-05-02 The Charles Machine Works, Inc. System and method for detecting an underground object using magnetic field sensing

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BE1001218A3 (nl) * 1987-11-12 1989-08-22 Smet Marc Jozef Maria Detectie-inrichting voor een boorkop.
GB2215257B (en) * 1988-02-10 1992-03-04 Ronald Albert William Clarke Apparatus for reflex-percussive cutting of concrete etc.
US4878547A (en) * 1988-10-28 1989-11-07 Ingersoll-Rand Company Rock drilling apparatus
WO1996018118A1 (en) * 1994-12-08 1996-06-13 Noranda Inc. Method for real time location of deep boreholes while drilling
DE19859367C2 (de) * 1998-12-22 2003-03-20 Tracto Technik Lenkkopf-Rammbohrgerät
GB9903256D0 (en) 1999-02-12 1999-04-07 Halco Drilling International L Directional drilling apparatus
GB2382143B (en) * 2000-05-01 2004-05-26 Schlumberger Holdings A method for telemetering data between wellbores
US6607045B2 (en) 2001-10-10 2003-08-19 Donald Beyerl Steering apparatus
CN109209221B (zh) * 2018-11-14 2024-02-09 中国铁建重工集团股份有限公司 一种潜孔锤设备及其冲击导向系统
CN109372424B (zh) * 2018-12-13 2023-09-29 长江大学 一种连续油管用复合冲击提速钻具
CN112443274A (zh) * 2019-08-27 2021-03-05 永城煤电控股集团有限公司 一种煤仓电缆孔的施工方法
US11674354B2 (en) 2020-11-03 2023-06-13 The Charles Machine Works, Inc. Piercing tool aiming device
CN113700433B (zh) * 2021-09-09 2023-05-12 西南石油大学 一种自发电风压电磁联合冲击自转式空气锤及使用方法
CN113756788B (zh) * 2021-10-18 2022-08-02 中国地质大学（北京） 一种机械式随钻井斜测量仪

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US3656161A (en) * 1969-12-31 1972-04-11 Bell Telephone Labor Inc Maintaining a circularly polarized magnetic field at a moving point
US3712391A (en) * 1971-06-28 1973-01-23 Bell Telephone Labor Inc Mole guidance system
US3731752A (en) * 1971-06-25 1973-05-08 Kalium Chemicals Ltd Magnetic detection and magnetometer system therefor

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Also Published As

Publication number Publication date
EP0428180B1 (de) 1995-12-27
EP0202013A2 (de) 1986-11-20
CA1255651A (en) 1989-06-13
DE3650461T2 (de) 1996-05-15
EP0428181A1 (de) 1991-05-22
EP0202013B1 (de) 1993-03-03
EP0428181B1 (de) 1994-08-10
DE3650461D1 (de) 1996-02-08
CA1274817A (en) 1990-10-02
AU589615B2 (en) 1989-10-19
AU5565286A (en) 1986-10-09
DE3687855T2 (de) 1993-07-01
ATE109866T1 (de) 1994-08-15
DE3687855D1 (de) 1993-04-08
DE3650026D1 (de) 1994-09-15
DE3650026T2 (de) 1994-12-01
ATE132226T1 (de) 1996-01-15
ATE86355T1 (de) 1993-03-15
EP0202013A3 (en) 1988-08-03

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