公开(公告)号：US09150308B2

公开(公告)日：2015-10-06

申请号：US13763590

申请日：2013-02-08

Applicant: Merlin Technology, Inc.

Inventor： John E. Mercer ,  Marc Feifel ,  Mark Marvin ,  Nicolas Albion

IPC: H02K7/14 ,  B64C27/68 ,  B64C27/59 ,  B64C13/04 ,  B64C13/30 ,  B64C27/57 ,  B64C27/58

CPC classification number: B64C27/68 ,  B64C13/04 ,  B64C13/18 ,  B64C13/30 ,  B64C27/57 ,  B64C27/58 ,  B64C27/59 ,  F16F15/121 ,  Y02T50/44

Abstract: An autopilot actuator includes first and second motors each including a rotatable motor output shaft such that either one or both of the motors can drive an actuator output shaft. An autopilot main unit enclosure is removably mounted to the helicopter proximate to a cyclic control and commonly houses autopilot actuators as well as main autopilot electronics. A cyclic vibration isolator is removably supported by an actuator shaft for co-rotation and coupled to the cyclic control to attenuate a cyclic vibration frequency at the actuator shaft while output rotations of the actuator shaft below a resonant frequency are coupled to the cyclic control. A force limited link includes first and second ends and a variable length between. The force limited link having a relaxed length when less than an unseating force is applied and the variable length changes when an applied force exceeds the unseating force to permit pilot override.

Abstract translation: 自动驾驶执行器包括第一和第二电动机，每个电动机包括可旋转的电动机输出轴，使得电动机中的一个或两个可以驱动致动器输出轴。 自动驾驶仪主机壳体可拆卸地安装在靠近循环控制的直升机上，并且通常容纳自动驾驶执行器以及主要的自动驾驶仪电子装置。 循环式隔振器由致动器轴可拆卸地支撑，用于共同旋转并且耦合到循环控制器，以在致动器轴处衰减循环振动频率，同时致动器轴的低于谐振频率的转速耦合到循环控制。 力限制连杆包括第一和第二端以及两者之间的可变长度。 当施加小于放开力的力时，力限制连杆具有松弛的长度，并且当施加的力超过转动力以允许引导超驰时，可变长度改变。

公开(公告)号：US20140266212A1

公开(公告)日：2014-09-18

申请号：US14288159

申请日：2014-05-27

Applicant: Merlin Technology Inc.

Inventor： Guenter W. Brune ,  John E. Mercer

IPC: G01V3/08

CPC classification number: G01V3/081 ,  E21B47/02 ,  E21B47/02224 ,  E21B47/024 ,  E21B47/0905 ,  E21B47/12 ,  G01V3/08

Abstract: Arrangements, apparatus and associated methods are described for use in a multi-frequency boring tool locating system. The boring tool includes a transmitter for transmitting a locating signal at two or more selectable frequencies. One set of above ground procedures may be applied to the transmitter in order to change the frequency of the boring tool transmitter. Another set of procedures is applicable for changing the frequency during below ground drilling operations, for example, by subjecting the boring tool to a predetermined roll orientation sequence. An enhanced portable locator operates in a manual or automatic mode to receive locating frequency information transmitted from the boring tool transmitter including frequency updates. Boring tool transmitter, as well as above ground locator shutdown/restart procedures are described relating to multi-frequency operation. A tone detector is described which implements one or more digital match filters.

Abstract translation: 描述了用于多频钻孔定位系统中的布置，装置和相关方法。 无聊工具包括用于以两个或多个可选频率发送定位信号的发射器。 可以将一组以上的地面程序应用于变送器，以便改变镗刀发送器的频率。 另一组程序适用于在地下钻孔作业中改变频率，例如通过使钻孔工具进行预定的辊定向顺序。 增强的便携式定位器以手动或自动模式操作以接收从钻孔工具发射器发送的定位频率信息，包括频率更新。 镗刀工具变送器以及地面定位器停机/重启程序都涉及多频操作。 描述了实现一个或多个数字匹配滤波器的音调检测器。

公开(公告)号：US20140210478A1

公开(公告)日：2014-07-31

申请号：US14242042

申请日：2014-04-01

Applicant: Merlin Technology Inc.

Inventor： John E. Mercer

IPC: G01V3/12

CPC classification number: G01V3/12 ,  E21B47/02224 ,  G01V3/15 ,  G01V3/165 ,  G01V3/26

Abstract: A method is disclosed as part of an overall process in which a boring tool is moved through the ground within a given region along a particular path in an orientation which includes pitch. A locating signal is transmitted from the boring tool which signal exhibits a field defined forward point within a reference surface which field defined forward point is vertically above an inground forward point on the particular path through which the boring tool is likely to pass. The method establishes a predicted depth of the boring tool at the inground forward point by first identifying the field defined forward point. The signal strength of the locating signal is then measured at the field defined forward point as being representative of the depth of the boring tool at an inground upstream point which is the current location of the boring tool. With the boring tool at the upstream inground point, the pitch of the boring tool is determined. Using the measured signal strength and the determined pitch, the predicted depth of the boring tool is determined for the inground forward point based on the boring tool moving along an approximately straight path to the inground forward point.

Abstract translation: 作为整个过程的一部分公开了一种方法，其中镗孔工具沿着包括沥青在内的定向的特定路径在给定区域内移动通过地面。 定位信号从钻孔工具发送，该信号在参考表面内呈现场定义的前进点，该场定义的前进点垂直地位于钻孔工具可能通过的特定路径上的内置前进点上方。 该方法通过首先识别场定义的前进点来建立钻孔工具在地下前进点处的预测深度。 然后，定位信号的信号强度在现场定义的前进点处被测量，以代表钻孔工具在作为钻孔工具的当前位置的上游上游点处的深度。 通过钻孔工具在上游边缘点，确定钻孔工具的间距。 使用所测量的信号强度和所确定的间距，基于钻孔工具沿着大致直线的路径移动到地下前进点，确定钻孔工具的预测深度用于地下前进点。

公开(公告)号：US20140163886A1

公开(公告)日：2014-06-12

申请号：US14177898

申请日：2014-02-11

Applicant: Merlin Technology Inc.

Inventor： Guenter W. Brune ,  Albert W. Chau ,  John E. Mercer

IPC: G01V3/38

CPC classification number: G01V3/081 ,  E21B47/0905 ,  G01V3/15 ,  G01V3/30 ,  G01V3/38

Abstract: An arrangement and an associated method are described in which a boring tool is moved through the ground within a given region along a path in which region a cable is buried. The boring tool and the cable transmit a boring tool locating signal and a cable locating signal, respectively. Intensities of the boring tool locating signal and the cable locating signal are measured along with a pitch orientation of the boring tool. Using the measured intensities and established pitch orientation, a positional relationship is determined to relative scale including at least the boring tool and the cable in the region. The positional relationship is displayed to scale in one view. The positional relationship may be determined and displayed including the forward locate point in scaled relation to the boring tool and the cable. Cable depth determination techniques are described including a two-point ground depth determination method.

Abstract translation: 描述了一种布置和相关方法，其中镗孔工具沿着沿着其中埋入电缆的区域的路径在给定区域内移动通过地面。 钻孔工具和电缆分别传输钻孔定位信号和电缆定位信号。 镗刀定位信号和电缆定位信号的强度随钻孔工具的俯仰方向一起测量。 使用所测量的强度和建立的俯仰方向，确定位置关系至至少包括该钻孔工具和该区域中的电缆的相对标度。 位置关系在一个视图中以比例显示。 可以确定和显示位置关系，包括与镗孔工具和电缆成比例关系的前向定位点。 描述了电缆深度确定技术，其包括两点地面深度确定方法。

公开(公告)号：US20140088800A1

公开(公告)日：2014-03-27

申请号：US14032375

申请日：2013-09-20

Applicant: Merlin Technology, Inc.

Inventor： John E. Mercer

IPC: B64D43/02

CPC classification number: G01S19/39 ,  B64D43/02 ,  G01P5/00 ,  G01P7/00 ,  G01P15/14

Abstract: The flight of an aircraft is characterized in terms of Earth-based reference system data for a first position and a second position of the aircraft that are separated by a time increment. A centripetal acceleration of the aircraft is determined based on the Earth-based reference system data for the positions in conjunction with the time increment. A rate of rotation is established corresponding to the time increment in an aircraft-based reference system. Aircraft airspeed is determined based on the centripetal acceleration and the rate of rotation. A turn can be detected as characterized by a change in track angle from a prior GPS packet compared to a new packet. Aircraft turns can be detected based on a change in track angle in GPS packets. Compensation can be applied to a gyro based on centripetal acceleration such that the gyro more accurately responds to the Earth gravity axis.

Abstract translation: 飞机的飞行的特征在于基于地面的参考系统数据，用于飞行器的第一位置和第二位置，其被时间增量分开。 基于地面参考系统数据确定飞机的向心加速度，并结合时间增量确定位置。 对应于基于飞机的参考系统中的时间增量来建立旋转速率。 基于向心加速度和旋转速度确定飞机空速。 与新分组相比，可以检测到与来自先前的GPS分组的轨道角度的变化相关的转弯。 可以根据GPS数据包中轨道角度的变化来检测飞机转弯。 可以基于向心加速度对陀螺仪进行补偿，使得陀螺仪更准确地响应于地球重力轴。

公开(公告)号：US20140027565A1

公开(公告)日：2014-01-30

申请号：US13763582

申请日：2013-02-08

Applicant: Merlin Technology, Inc.

Inventor： Mark Marvin ,  Marc Feifel ,  Nicolas Albion ,  John E. Mercer

IPC: B64C27/57

CPC classification number: B64C27/57 ,  B64C13/0421 ,  B64C13/044 ,  B64C13/341 ,  B64C27/58 ,  G05D1/0858

Abstract: An autopilot system includes an actuator arrangement that receives control signals to influence the flight of the helicopter in a selected one of a plurality of different flight modes. A control stick input arrangement allows flight mode selection and control with no more than a particular one of the pilot's hands in the engaged position on the stick and without moving the hand away from the engaged position. A slaved gyro output signal is based on no more than the set of sensor outputs used by the autopilot such that an autopilot display presents autopilot flight mode information while displaying a slaved gyro output. The autopilot provides for pilot selection of one of a subset of the plurality of flight modes which is customized based on a current flight status of the helicopter. An automatic autorotation mode is provided.

Abstract translation: 自动驾驶仪系统包括致动器装置，该致动器装置接收控制信号以影响直升机在多种不同飞行模式中所选择的一种中的飞行。 控制杆输入装置允许飞行模式的选择和控制，不超过驾驶员手中特定的一只手在杆上的接合位置，而不用将手从接合位置移开。 从动陀螺仪输出信号基于自动驾驶仪使用的传感器输出集合，使得自动驾驶仪显示器显示自动驾驶飞行模式信息，同时显示从属陀螺仪输出。 自动驾驶仪提供了基于直升机的当前飞行状态来定制的多个飞行模式的子集中的一个的飞行员选择。 提供自动自动转换模式。

公开(公告)号：US20130118810A1

公开(公告)日：2013-05-16

申请号：US13733398

申请日：2013-01-03

Applicant: Merlin Technology, Inc.

Inventor： John E. Mercer

IPC: E21B47/024

CPC classification number: E21B44/005 ,  E21B7/046 ,  E21B7/06 ,  E21B7/068 ,  E21B44/00 ,  E21B47/02224 ,  E21B47/024 ,  E21B47/122

Abstract: A drilling system performs underground boring using a drill rig and a boring tool which is configured for moving through the ground under control of the drill rig to form an underground bore. A monitoring arrangement, forming part of the system, includes a detection arrangement at the drill rig for monitoring at least one operational parameter to produce a data signal relating to at least one of a utility to be installed in the underground bore, the drill rig and the boring tool. A portable device forms another part of the system for receiving the data signal relating to the operational parameter for use by the portable device. A communication arrangement, for example using telemetry, transfers the data signal from the drill rig to the portable device. The operational parameter may be monitored for the purpose of preventing equipment failure.

公开(公告)号：US20230314468A1

公开(公告)日：2023-10-05

申请号：US18206574

申请日：2023-06-06

Applicant: Merlin Technology, Inc.

Inventor： Albert W. Chau ,  John E. Mercer ,  Scott Phillips

IPC: G01P15/18 ,  G01P3/00 ,  G01P15/00 ,  G01P15/08

CPC classification number: G01P15/18 ,  G01P3/00 ,  G01P15/00 ,  G01P15/0888 ,  B81B2201/0235

Abstract: An accelerometer arrangement and method are described for determining accelerations of an inground tool. First and second triaxial accelerometers are supported such that a normal sensing axis of the first triaxial accelerometer is at least generally orthogonal to the normal sensing axis of the second triaxial accelerometer for determining the accelerations along the three orthogonal axes based on a combination of sensing axis outputs from one or both of the triaxial accelerometers. A weaker sensing axis of one triaxial accelerometer can be supported at least approximately normal to a weaker sensing axis of another triaxial accelerometer such that the weaker axes are not used. The triaxial accelerometers can be supported such that one axis of one accelerometer can be redundant with respect to another axis of another accelerometer. One triaxial accelerometer can be mounted on a tilted plane with respect to another triaxial accelerometer.

公开(公告)号：US11598198B2

公开(公告)日：2023-03-07

申请号：US17151612

申请日：2021-01-18

Applicant: Merlin Technology Inc.

Inventor： Guenter W. Brune ,  John E. Mercer ,  Albert W. Chau

IPC: E21B7/04 ,  E21B47/024 ,  E21B47/0232 ,  E21B44/00

Abstract: A boring tool that is moved by a drill string to form an underground bore. A transmitter transmits a time varying dipole field as a homing field from the boring tool. A pitch sensor detects a pitch orientation of the boring tool. A homing receiver is positionable at a target location for detecting the homing field to produce a set of flux measurements. A processing arrangement uses the pitch orientation and flux measurements with a determined length of the drill string to determine a vertical homing command for use in controlling depth in directing the boring tool to the target location such that the vertical homing command is generated with a particular accuracy at a given range between the transmitter and the homing receiver and which would otherwise be generated with the particular accuracy for a standard range, different from the particular range. An associated system and method are described.

公开(公告)号：US11555352B2

公开(公告)日：2023-01-17

申请号：US17209177

申请日：2021-03-22

Applicant: Merlin Technology, Inc.

Inventor： Timothy Shaw ,  John E. Mercer ,  Albert W. Chau

IPC: E21B44/00 ,  E21B7/06 ,  G01V3/34 ,  G01V3/38 ,  E21B47/024 ,  G01V3/18 ,  E21B47/13 ,  E21B47/0232 ,  G01V3/08 ,  G01V3/15

Abstract: A boring tool is movable through the ground. A transmitter supported by the boring tool transmits an electromagnetic homing signal. A portable device monitors the electromagnetic homing signal and receives the electromagnetic homing signal in a homing mode for guiding the boring tool to a target position. A processor generates steering commands for guiding the boring tool based on a bore plan in a steering mode such that at least some positional error is introduced without using the electromagnetic homing signal. Switching from the steering mode to the homing mode is based on monitoring of the electromagnetic homing signal as the boring tool approaches the portable device to then guide the boring tool to the target position location in compensation for the positional error. Intermediate target positions are described as well as guiding the boring tool based on the homing signal so long as the portable device receives the signal.