US 12,259,094 B2
Pipeline following sensor arrangement
Brian K. Bailey, Stillwater, OK (US); Kelvin P. Self, Stillwater, OK (US); Richard F. Sharp, Perry, OK (US); Scott B. Cole, Edmond, OK (US); and Michael F. Gard, Perry, OK (US)
Assigned to The Charles Machine Works, Inc., Perry, OK (US)
Filed by The Charles Machine Works, Inc., Perry, OK (US)
Filed on Dec. 4, 2020, as Appl. No. 17/112,049.
Application 17/112,049 is a continuation in part of application No. 16/738,447, filed on Jan. 9, 2020, abandoned.
Application 16/738,447 is a continuation in part of application No. 16/158,245, filed on Oct. 11, 2018, abandoned.
Application 16/158,245 is a continuation of application No. 15/962,517, filed on Apr. 25, 2018, abandoned.
Claims priority of provisional application 62/943,579, filed on Dec. 4, 2019.
Claims priority of provisional application 62/792,234, filed on Jan. 14, 2019.
Claims priority of provisional application 62/489,815, filed on Apr. 25, 2017.
Prior Publication US 2021/0131615 A1, May 6, 2021
Int. Cl. F17D 5/06 (2006.01); B62D 1/28 (2006.01); B62D 6/00 (2006.01); E02F 5/02 (2006.01); E02F 5/06 (2006.01); E02F 5/10 (2006.01); E02F 5/14 (2006.01); E02F 9/20 (2006.01); E02F 9/24 (2006.01); E02F 9/26 (2006.01); G01M 3/40 (2006.01); G05D 1/00 (2024.01)
CPC F17D 5/06 (2013.01) [B62D 1/28 (2013.01); B62D 6/001 (2013.01); E02F 5/027 (2013.01); E02F 5/102 (2013.01); E02F 5/14 (2013.01); E02F 5/145 (2013.01); E02F 9/205 (2013.01); E02F 9/245 (2013.01); E02F 9/265 (2013.01); G01M 3/40 (2013.01); G05D 1/0212 (2013.01); G05D 1/0259 (2013.01); G05D 1/0265 (2013.01); E02F 5/06 (2013.01); E02F 5/103 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A system comprising:
a mobile machine frame;
an outrigger frame attached to the mobile machine frame;
a first receiver, a second receiver, and a third receiver, each of the first, second and third receivers disposed linearly on the outrigger frame at a known distance from each of the other of the first, second and third receivers, in which the receivers are each configured to detect a signal emanating from an underground utility line;
an orientation sensor disposed on the outrigger frame and configured to transmit an orientation signal indicative of an angle of the outrigger frame relative to level plane; and
a processor configured to determine a position of the underground line using the signal received at each of the first, second and third receivers and the orientation signal.