Systems and methods for drill head position determination

Patent metadata

Field	Value
Publication number	US-11401754-B2
Application number	US-202016746422-A
Country	US
Kind code	B2
Filing date	Jan 17, 2020
Priority date	Jan 17, 2020
Publication date	Aug 2, 2022
Grant date	Aug 2, 2022

Abstract

Systems and methods for drill head position determination are disclosed. A method for determining a position of a drill head of a drilling machine may include: retrieving a stored rotational position of at least one sheave and a stored position of the drill head; measuring the rotational position of the at least one sheave using a sheave sensor; initially calibrating the rotational position of the at least one sheave before the drill head moves; dynamically determining the position of the drill head based on the rotational position of the at least one sheave while the drill head is moved; and storing the rotational position of the at least one sheave and the position of the drill head during a shutdown event of the drilling machine.

First claim

What is claimed is:

1. A method for determining a position of a drill head of a drilling machine having a mast, the drill head movably attached to the mast and configured to rotate a drill string, and a drill drive assembly including at least one sheave and a cable wound about the at least one sheave and configured to move the drill head up and down along a length of the mast, the method comprising:
retrieving a stored rotational position of the at least one sheave and a stored position of the drill head;
measuring the rotational position of the at least one sheave using a sheave sensor;
initially calibrating the rotational position of the at least one sheave before the drill head moves;
dynamically determining the position of the drill head based on the rotational position of the at least one sheave while the drill head is moved;
dynamically calibrating the position of the drill head based on a position of a triggered proximity sensor; and
storing the rotational position of the at least one sheave and the position of the drill head during a shutdown event of the drilling machine.

2. The method of claim 1 , wherein the initially calibrating the rotational position of the at least one sheave includes:
determining whether a difference between the measured rotational position and the stored rotational position of the at least one sheave is within a predetermined threshold; and
if the difference is within the predetermined threshold, updating the determined position of the drill head based on the measured rotational position.

3. The method of claim 2 , wherein if the difference is not within the predetermined threshold, the method further includes invalidating at least one of the stored rotational position of the at least one sheave and the stored position of the drill head.

4. The method of claim 1 , wherein the proximity sensor is located at a position on the mast, and the method further includes detecting when the drill head is at the position on the mast.

5. The method of claim 1 , wherein the proximity sensor is among a plurality of proximity sensors each located at a different position on the mast, dynamically calibrating the position of the drill head is based on which position sensor among the plurality of proximity sensors is triggered.

6. The method of claim 1 , wherein the proximity sensor is an inductive sensor or a capacitive sensor.

7. The method of claim 1 , wherein the shutdown event includes at least receiving a key-off signal and receiving an emergency stop signal.

8. The method of claim 1 , further including invalidating at least one of the stored rotational position of the at least one sheave or the stored position of the drill head when the drill head begins to move.

9. A method for determining a position of a drill head of a drilling machine having a mast, the drill head movably attached to the mast and configured to rotate a drill string, and a drill drive assembly including at least one sheave and a cable wound about the at least one sheave and configured to move the drill head up and down along a length of the mast, the method comprising:
retrieving a stored rotational position of the at least one sheave and a stored position of the drill head;
measuring the rotational position of the at least one sheave using a sheave sensor;
initially calibrating the rotational position of the at least one sheave before the drill head moves, the initial calibrating including:
measuring a difference between the measured rotational positon of the sheave and the stored rotational position of the sheave; and
invalidating at least one of the stored rotational position of the at least one sheave or the stored position of the drill head based on the measured difference;

dynamically determining the position of the drill head based on the rotational position of the at least one sheave while the drill head is moved;
dynamically calibrating the position of the drill head based on a position of a triggered proximity sensor; and
storing the rotational position of the at least one sheave and the position of the drill head during a shutdown event of the drilling machine.

10. The method of claim 9 , wherein the initially calibrating the rotational position of the at least one sheave includes:
determining whether the measured difference is within a predetermined threshold; and
if the measured difference is within the predetermined threshold, updating the determined position of the drill head based on the measured rotational position.

11. The method of claim 10 , wherein the invalidating at least one of the stored rotational position of the at least one sheave or the stored position of the drill head based on the measured difference includes invalidating if the measured difference is not within the predetermined threshold.

12. The method of claim 9 , wherein the proximity sensor is located at a position on the mast, and the method further includes detecting when the drill head is at the position on the mast.

13. The method of claim 9 , wherein the proximity sensor is among a plurality of proximity sensors, and dynamically calibrating the position of the drill head is based on which proximity senor is triggered among the plurality of proximity sensors.

14. The method of claim 9 , wherein the shutdown event includes at least receiving a key-off signal and receiving an emergency stop signal.

15. A drill head position determination system for a drilling machine, comprising:
a mast;
a drill head movably attached to the mast, the drill head configured to rotate a drill string;
a drill drive assembly configured to move the drill head up and down along a length of the mast, the drill drive assembly including:
at least one sheave; and
a cable system wound about the at least one sheave;

a sheave sensor operatively coupled to the at least one sheave; and
a controller configured to:
retrieve a stored rotational position of the at least one sheave and a stored position of the drill head;
measure the rotational position of the at least one sheave using the sheave sensor;
initially calibrate the rotational position of the at least one sheave before the drill head moves, the initial calibrating including:
measure a difference between the measured rotational positon of the sheave and the stored rotational position of the sheave; and
invalidate at least one of the stored rotational position of the at least one sheave or the stored position of the drill head based on the measured difference;

dynamically determine the position of the drill head based on the rotational position of the at least one sheave while the drill head is moved;
dynamically calibrating the position of the drill head based on a position of a triggered proximity sensor; and
store the rotational position of the at least one sheave and the position of the drill head when the controller receives a key-off signal and when the controller receives an emergency stop signal.

16. The system of claim 15 , wherein the initial calibrating includes:
determine whether the measured difference is within a predetermined threshold; and
if the difference is within the predetermined threshold, update the determined position of the drill head based on the measured rotational position.

17. The system of claim 16 , wherein the invalidate at least one of the stored rotational position of the at least one sheave or the stored position of the drill head based on the measured difference includes invalidate if the measured difference is not within the predetermined threshold.

18. The system of cla

Assignees

• Caterpillar Global Mining Equipment Llc

Inventors

• Moberg Carl J
• Glover Rex A

Classifications

• E21B7/022

  Control of the drilling operation; Hydraulic or pneumatic means for activation or operation (control circuits for drilling masts E21B15/045) · CPC title

• E21B44/02

  Automatic control of the tool feed ({E21B44/005,} E21B44/10 take precedence) · CPC title

• E21B47/04

  Measuring depth or liquid level · CPC title

• E21B47/09

  Locating or determining the position of objects in boreholes or wells {, e.g. the position of an extending arm}; Identifying the free or blocked portions of pipes · CPC title

• E21B7/02

  Drilling rigs characterised by means for land transport {with their own drive}, e.g. skid mounting or wheel mounting · CPC title