# US 7,607,494 B2 · Earth penetrating apparatus and method employing radar imaging and rate sensing > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 7,607,494 B2 - Document ID: US7607494B2 - Status: Granted - Kind: B2 - Application number: 11/634,334 - Filed: 2006-12-05 - Published: 2007-10-18 - Granted: 2009-10-27 - Earliest claimed: 1999-09-24 - Assignees: Vermeer Manufacturing Company - Inventors: Kevin L. Alft; Gregory W. Draper; Hans Kelpe - Web page: https://patentgrep.com/patent/US7607494B2 ## CPC - E21B 44/00: Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions - E21B 7/046: {horizontal drilling (drilling with mechanical conveying means E21B7/003)} - E21B 7/28: Enlarging drilled holes, e.g. by counterboring - E21B 44/005: {Below-ground automatic control systems} - E21B 47/022: of the borehole, e.g. using geomagnetism - E21B: EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS ## Abstract An earth penetrating apparatus includes a cutting tool and a sensor housing. A radar unit, rate sensor unit, processor, and transmitter are provided in the sensor housing. An antenna arrangement is coupled to the radar unit and configured for transmitting and receiving electromagnetic signals in a relatively forward and/or lateral looking direction relative to a distal end of the cutting tool. The rate sensor unit may include one or both of a gyroscope and an accelerometer. The processor receives radar data from the radar unit indicative of subsurface strata and obstacles respectively located generally forward and/or lateral of the cutting tool, and receives displacement data from the rate sensor unit indicative of one or both of longitudinal and rotational displacement of the cutting tool. The transmitter is configured for transmitting one or both of the radar data and the displacement data to an aboveground location. ## Claims ### Claim 1 An earth penetrating apparatus for use with a boring machine, comprising: a cutting tool assembly comprising a cutting tool and a sensor housing; a radar unit provided in the sensor housing; an antenna arrangement coupled to the radar unit, the antenna arrangement configured for transmitting and receiving electromagnetic signals; a rate sensor unit provided in the sensor housing; a processor provided in the sensor housing and communicatively coupled to the radar unit and the rate sensor unit, the processor receiving radar data from the radar unit indicative of subsurface strata and obstacles in proximity to the cutting tool and receiving displacement data from the rate sensor unit indicative of one or both of longitudinal and rotational displacement of the cutting tool; and a transmitter provided in the sensor housing and coupled to the processor, the transmitter configured for transmitting one or both of the radar data and the displacement data to an aboveground location. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the processor receives displacement data from the rate sensor unit indicative of longitudinal and rotational displacement of the cutting tool, and the transmitter is configured to transmit the radar data and the displacement data to the aboveground location. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the cutting tool assembly comprises a drill string, and a communications link is provided by the drill string, the transmitter configured to transmit one or both of the radar data and the displacement data to the aboveground location via the communications link. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the rate sensor comprises at least one gyroscope. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the rate sensor comprises at least one accelerometer. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the rate sensor comprises at least one magnetometer. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the cutting tool comprises a boring tool. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the cutting tool comprises a reamer. ### Claim 9 (depends on 1) The apparatus of claim 1, further comprising an above-ground tracker. ### Claim 10 (depends on 1) The apparatus of claim 1, comprising an interface comprising a display, the display configured to display one or both of the radar data and the displacement data. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the display displays bore plan information indicative of an actual position of the cutting tool relative to a planned position. ### Claim 12 An earth penetrating apparatus for use with a boring machine, comprising: a cutting tool assembly comprising a cutting tool and a sensor housing; a radar unit provided in the sensor housing; an antenna arrangement coupled to the radar unit, the antenna arrangement configured for transmitting and receiving electromagnetic signals; a processor provided in the sensor housing and communicatively coupled to the radar unit, the processor receiving radar data from the radar unit indicative of subsurface strata and obstacles in proximity to the cutting tool assembly, a transmitter provided in the sensor housing and coupled to the processor, the transmitter configured for transmitting the radar data to an aboveground location; and an aboveground tracker configured to facilitate navigation of the cutting tool assembly during a boring operation. ### Claim 13 (depends on 12) The apparatus of claim 12, comprising a bore planning system provided at the boring machine, the bore planning system receiving data from the tracker and radar data from the transmitter. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein an alternative bore plan is generated by the bore planning system in response to detecting an obstacle. ### Claim 15 (depends on 12) The apparatus of claim 12, comprising a user interface comprising a display and coupled to the bore planning system, the tracker data and the radar data presentable on the display. ### Claim 16 (depends on 15) The apparatus of claim 15, comprising a bore planning system, wherein the display displays bore plan information indicative of an actual position of the cutting tool relative to a planned position. ### Claim 17 (depends on 12) The apparatus of claim 12, wherein the cutting tool assembly comprises a drill string, and a communications link comprises a conductor provided along the drill string. ### Claim 18 (depends on 12) The apparatus of claim 12, wherein the cutting tool assembly comprises a drill string, and a communications link comprises an acoustic system utilizing the drill string as an acoustic communications conduit. ### Claim 19 (depends on 12) The apparatus of claim 12, wherein the cutting tool comprises a boring tool. ### Claim 20 (depends on 12) The apparatus of claim 12, wherein the cutting tool comprises a reamer.