| 摘要 |
A drilling or boring system (112) provides one or both of a thrust generator (136) or torque generator (174) positioned down-hole coupled to a drill head (132). Thrust and/or torque forces are reacted to the bore hole wall by a stabilizer system (154) such as a spoke system (220) or a drum brake system (220'). The system can achieve relatively a small turning radii such as less than 25 feet, preferably less than 15 feet. Down-hole deployment sensing systems including down ground-penetrating radar (146) and/or inertial navigation (152) and/or global positioning systems can provide obstacle detection (166), preferably with fine resolution, such as less than 3 inches, and/or accurate, preferably real time and preferably three-dimensional as-drilled mapping. |
