JP2018184828A - Drill head for underground excavation, drill device for underground excavation, having drill head, and method for detecting object during underground excavation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for detecting an object during underground excavation by using a horizontal drill device.SOLUTION: A drill head 1 for underground excavation is particularly used for a horizontal drill device. The drill head 1 includes a housing, a transmitter 6 for generating a radio signal, an antenna 7, and a receiver 8 for receiving the reflected radio signal. In the drill head 1, the antenna unit is adapted to transmit the radio signal into ground and receive the reflected radio signal.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a drill head, in particular a drill head for a horizontal drilling device, a drilling device for underground drilling with a drill head, in particular a horizontal drilling device, and in particular a ground drilling device using a horizontal drilling device. And a method for detecting an object.

  Obstacles in front of the drill head of the drilling device for underground drilling cause problems in horizontal drilling technology. Such obstacles may include, for example, hard rocks, and such hard rocks often cannot be crushed by the drilling device used. In addition, water pipes, gas pipes, telephone lines, or power lines may be located in the area near the surface of the earth and should not be destroyed during excavation.

  The above problems led to the development of a steerable horizontal drilling device. Such a drilling device called HDD (Horizontal Directional Drilling) enables maneuvering while avoiding obstacles. It is further known to classify obstacles by geo-radar surveying in order to allow obstacles to be detoured from a location point of view.

  Obstructions in the ground are usually reliably detected by the radar unit, in which case the electromagnetic waves radiated from the radar unit are reflected from electrical discontinuities caused by some of the obstacles and are Received again. By analyzing the received electromagnetic wave, it is possible to detect the position, that is, the direction of the obstacle relative to the drill head and the distance to the obstacle, and to use it to correct the direction of travel of the drilling device. Become.

  US Pat. No. 6,755,263 (US6755263B2) discloses a system and method for performing detection in an underground drilling device that communicates with a ground locator. The system and method includes transmitting a radar probe signal from an underground drilling device. A radar return signal is received in the underground drilling device. The radar return signal is processed in an underground drilling device to generate sensor data. The sensor data is transmitted in a format suitable for reception by a ground locator.

  However, incorporating a radar unit into a horizontal drilling device is a major problem. Since the radar unit is usually used to monitor the area in front of the drill head, the radar unit should be placed in the drill head to prevent the horizontal drilling device itself from interfering with electromagnetic waves. Is wise. In addition, because the drill head is subject to harsh environmental effects, the electronics within the drill head can be subject to significant wear and / or damage. In the case of a horizontal drilling device, the drill head is the most stressed component. This is because the drill head transmits static and dynamic (if a striking device is involved) excavation force generated by the drive unit of the horizontal drilling device to the ground. Furthermore, the space in the drill head is limited.

US Pat. No. 6,755,263

  Starting from the prior art, the present invention is based on the problem of providing an advantageous possibility for incorporating a radar unit in a drill head that solves or handles at least one of the above-mentioned drawbacks.

  The above problem is solved by the subject matter described in the independent claims. Advantageous embodiments are the subject matter of the dependent claims.

  The essence of the invention resides in the discovery that only one antenna unit can be used to detect obstacles in front and side of the drill head. As the number of components in the drill head is reduced, the space that must be provided for components needed to detect obstacles in the drill head path is also reduced.

  According to an advantageous embodiment, the reflected radio signal can be processed on the ground, and the processing of the reflected radio signal is performed on the ground. As a result, there is no need to perform any processing in the drill head, only the transmission of the reflected radio signal—received by the drill head—is required. Therefore, the number of electronic components in the drill head can be further reduced, and the complexity of the electronic components in the drill head can be reduced. Accordingly, the drill head for underground drilling according to the present invention, especially for horizontal drilling devices, includes a receiver adapted to allow the reflected radio signal to be transmitted to the ground device in an unprocessed state. be able to.

  According to the present invention, a horizontal drilling device that can be used in horizontal drilling (HDD) includes a device for excavating holes in the ground or soil without grooves. A steerable drill head can be used. The purpose of drilling holes into the ground can be to install underground pipes, conduits, or cables along the holes to be drilled. The pipe can be formed from materials such as polymers such as PVC, polyethylene, and / or polypropylene, ductile iron, and / or steel. During or after drilling the hole, the pipe can be drawn through the drilled hole.

  The term “housing” according to the invention encompasses a space at least partly surrounded by a section of the outer contour of the drill head.

  A “transmitter” according to the present invention includes a pulse generator operatively coupled to an antenna to transmit electromagnetic waves, ie radio signals. Radar, especially radar for underground drilling, is a ground penetrating-radar, a sensitive technique for detecting even small changes in the dielectric constant below the surface. An image can be generated by using radar, and the image can contain a large amount of detail. The main purpose of using radar in horizontal drilling is to detect obstacles in front of the drill head. The transmitter and receiver can be part of an object / obstacle detection system. The transmitter, in one embodiment, can include antenna components and circuit components that are used to generate radio signals.

  The drill head can include a single antenna for both transmitting and receiving radio signals. However, it is also possible to provide one or more additional antennas, particularly for different purposes, for example for transmitting and / or receiving location and / or control information or maneuvering information and / or instructions. is there. It is possible to use a single antenna unit with a single antenna for transmitting signals and a single antenna for receiving signals. The one or more antennas are preferably arranged in a conformal form inside the drill head or on the surface of the drill head. If the antenna is arranged inside the drill head, at least a part of the drill head comprises a non-metallic material, preferably a hard dielectric, in particular POM, or a radar wave transmissive material, from which the drill head Transmission to the ground is possible.

  A “receiver” according to the invention encompasses a device adapted to receive electromagnetic waves, in particular radio signals transmitted in advance and reflected from an object.

  The expression “the receiver is adapted to transmit the reflected radio signal to the ground in an unprocessed state” means that the received reflected radio signal is transmitted by the receiver itself. That is, the receiver can include transmission means, or the receiver is functionally coupled to transmission means that transmits the reflected radio signal received by the receiver. Is included.

  The term “raw / unprocessed” includes reflected radio signals that are received by a receiver and transmitted to a terrestrial device are transmitted without signal evaluation. The “raw signal” received by the receiver can be transmitted to a ground device. Transmitting a received radio signal “in a raw state” can modulate and / or amplify the radio signal for transmission purposes, however, information is obtained regarding the purpose of detecting obstacles. This means that no evaluation of the received radio signal is performed in the drill head for the purpose of detecting obstacles. The received radio signal is evaluated on the ground. The device on the ground can further include or be connected to a display unit, which displays information about obstacles located in the ground, detected by the radar unit, in particular the distance, Indicating information about position (i.e. direction relative to the drilling device), dimensions and shape The ground device can further include or be connected to a control unit, which controls the drill head of the drilling device to prevent collision with detected obstacles. It is possible to automatically correct the direction of travel.

  The term “ground device” encompasses that each device may be located on the ground. "Ground equipment" can also include the equipment being located in a hole in the ground, especially the start or reach used in HDDs. “Ground equipment” is different from drill heads and drill strings. The “ground equipment” is outside the hole to be drilled.

  The term “drill head” according to the invention encompasses so-called steerable drill heads, which are at least in some areas inclined with respect to the longitudinal axis of the drill head itself and thus with respect to the drilling direction. Have end faces. The inclined surface causes a laterally directed deflection force during propulsion, which results in the formation of a curved drill pattern when the drill head is driven statically, i.e. does not rotate. Become. Such a controlled drill head not only moves the drill head in the propulsion direction, but also allows linear drilling by rotating the drill head so that the deflection force is compensated over a complete revolution. is there.

  Although the present invention explicitly considers reflected radio signals, diffracted signals, i.e. diffracted radio signals, can be considered as well, and thus non-reflective underground obstacles. Signals caused by objects are taken into account. Thus, the term “reflected radio signal” encompasses signals received by a receiver regardless of whether the received signal is a reflected radio signal or a diffracted radio signal.

  Electronic and / or electrical components within the drill head can be powered by a battery or accumulator. Providing a battery or accumulator in the drill head allows independent power supply for the electrical / electronic components in the drill head. Electronic and / or electrical components in the drill head can be powered from the surface by wires in the drill rod.

  The polarity of the power supplied by the power supply can be changed or changed so that the power for supplying the electronic and / or electrical components can be set to an appropriate polarity diagram, or any electrolysis in the drill string Can be alternated to deal with corrosion.

  The radar used in accordance with the present invention can be based on a direct digital synthesizer (DDS). DDS is a type of frequency synthesizer that can be used to generate an arbitrary waveform from a single fixed frequency reference clock. Usable DDS circuits include (a) a phase accumulator, (b) memory / storage, (c) a D / A converter, and (d) means for converting a periodic analog signal into an analog pulse. Can do. The phase accumulator can be numerically controlled, can have a predetermined input counting period and input clock frequency, and can have a phase modulated periodic output digital signal. The memory / storage can be implemented as a ROM for phase / amplitude conversion of phase-modulated periodic digital signals and can provide amplitude-modulated periodic digital signals. The D / A converter can convert the amplitude-modulated periodic digital signal into a quantized periodic analog signal. The means for converting preferably includes a comparator, which detects a “zero crossing” of the periodic analog signal and generates a drive pulse for each of the “zero crossings”. Advantageously, a filter is provided upstream of the comparator for converting the quantized periodic analog signal into a sinusoidal signal.

  According to a preferred embodiment of the present invention, the receiver is coupled to a signal transmitter, which is configured to process the reflected radio signal received by the receiver in an unprocessed state on the ground. Adapted to transmit to any device. Thus, the receiver for receiving the reflected radio signal can be an additional separate entity for the receiver. However, it is also possible that a receiver for receiving the reflected radio signal is adapted to transmit the reflected radio signal by itself.

  According to a preferred embodiment of the present invention, the receiver and / or the signal transmitter for receiving the reflected radio signal are adapted to receive the raw reflected radio signal wirelessly. Has been. Accordingly, the terrestrial device is adapted to receive the reflected radio signal wirelessly. If you have wireless transmission, you do not need a wire that can send raw radio signals to ground devices. The raw radio signal can be transmitted via a modulatable electromagnetic wave. Therefore, the modulated electromagnetic wave is used to transmit an unprocessed radio signal to a ground device. After the electromagnetic waves received by the terrestrial device are demodulated, the raw data can be used to visualize the information and / or generate a warning signal.

  According to a preferred embodiment of the present invention, the receiver is coupled to a cable or wire, the cable or wire connecting a drill rod segment capable of connecting the reflected radio signal to the drill head. Connected to a concatenated element for sending to the element. Providing cables or wires for transmission reduces the risk of interference that can occur due to the effects on electromagnetic waves used for wireless transmission.

  According to a preferred embodiment of the present invention, the drill head includes a position acquisition device, and the receiver transmits the position acquisition device data to the ground device together with the reflected radio signal. It is adapted to. The data of the obstacle detection system can be synchronized with the data of the position acquisition device. It would also be possible to correlate the obstacle detection device data with the position information.

  According to a preferred embodiment of the invention, the receiver is adapted to transmit the reflected radio signal and the position acquisition device data by means of discrete multitone modulation (DMM). The reflected radio signal received by the antenna is first amplified as raw data at the amplifier. This signal is then transmitted from the amplifier via the Ethernet interface (which is a 4-wire interface) to the DMM modem in the drill head, which makes the 4-wire interface a 2-wire interface. The signal can then be transmitted to a ground device, for example a drilling device, via a so-called “inliner” in the drill rod or a drill rod having two pipes (an inner pipe and an outer pipe) and an inner pipe. Or can be transmitted via the respective outer pipe and the drill rod. Ground equipment can tap the transmitted signal through a slip ring. The so-called “In-Cab modem” turns the 2-wire interface back into a 4-wire interface (Ethernet). The raw data is then transmitted to a drilling machine computer for evaluation via a commercially available Ethernet network cable.

  The term “Ethernet” encompasses the possibility that communication over Ethernet divides the data stream into shorter parts, so-called frames. Each frame may include a source address and a destination address, and error check data. The content of the frame provides the possibility that a damaged frame can be detected and discarded and / or retransmitted and / or corrected.

  By using discrete multitone modulation, the signal can be separated into multiple frequency bands. A Fast Fourier Transform (FFT) algorithm can be used for modulation and demodulation.

  The technique used can be made adaptive using the most favorable tones at a rate that maintains optimal throughput. The data stream can carry error detection and correction overhead to ensure the quality of the data.

  The present invention further provides a drilling device for underground drilling, particularly a horizontal drilling device, wherein the drilling device has the above-described drill head and ground device.

  According to a preferred embodiment of the invention, the ground device is adapted to steer the drill head. It is possible to maneuver the drill head in response to commands or instructions entered into the ground equipment to drill holes in the ground. The drill head can receive instructions / instructions or the drilling device can be operated in response to ground equipment.

  According to a preferred embodiment of the present invention, the terrestrial device is adapted to visualize the reflected radio signal and / or data of the position acquisition device. Ground devices can include an obstacle detection system (reflected radio signal) as well as a display or monitor for visualizing information received by the position acquisition device.

  According to a preferred embodiment of the present invention, the ground device is adapted to steer the drill head in response to the reflected radio signal and / or data of the position acquisition device. The control of the drill head or the drill device can be an automatic control in which the drill head is steered along a predetermined path in consideration of the information supplied by the reflected radio signal (obstacle detection device). . After avoiding the detected obstacle, the drill head can be returned to a predetermined path behind the obstacle.

  The present invention further relates to a method for detecting an object in an underground drilling hole, wherein a radio signal is transmitted from a drill head by the same antenna, and a reflected radio signal is received by a receiver in the drill head. Via the method of receiving via. Thus, only one single antenna is used to transmit the radio signal into the ground and receive the reflected radio signal.

  According to a preferred embodiment, the method further comprises the step of transmitting the received reflected radio signal unprocessed to a ground device.

  According to a preferred embodiment of the present invention, the method comprises the step of transmitting the received reflected radio signal via a cable passing through a drill head and a drill rod segment connected to the drill head. .

  According to a preferred embodiment of the invention, the method comprises the step of transmitting the reflected radio signal together with position acquisition device data, in particular by means of discrete multitone modulation.

  According to a preferred embodiment of the present invention, the method includes maneuvering the drill head in response to the reflected radio signal.

  Exemplary embodiments of the invention are described in more detail below with reference to the drawings.

1 shows a horizontal drilling device having a drill head according to the present invention. FIG. 6 shows another embodiment of a horizontal drilling device having a drill head according to the present invention. 1 is a diagram showing a first embodiment of a drill head according to the present invention. It is a figure which shows 2nd Embodiment of the drill head by this invention. It is a flowchart explaining the flow of data, a signal, and electric power.

  FIG. 1 schematically shows an application example of a steerable horizontal drill device, also called a so-called HDD drill device. HDD is an abbreviation for “Horizontal Directional Drilling”. The horizontal drilling device has a drill head 1 including a drill head 1 according to the invention. The drill head 1 is attached to the tip of a drill rod 2, and the drill rod 2 is formed of a plurality of rod sections 3 connected to each other via a screw thread. The rear end of the drill rod 2 is connected to the drive unit 4, and the drive unit 4 can transmit the force and torque in the longitudinal direction of the drill rod 2 to the drill rod 2. The drive unit 4 allows the drill rod 2 including the attached drill head 1 to be driven and rotated in the thrust and pull directions.

  In the horizontal drilling apparatus of FIG. 1, the drive unit 4 is arranged on the ground surface, and thus fixed on the ground. Therefore, excavation work is also started from the ground surface, so that the excavation is first carried out obliquely in the ground, and after reaching the desired depth, the direction of excavation is changed until it reaches horizontal, and then excavation Is continued substantially horizontally.

  Deviations from the straight direction of excavation are obstacles that cannot be excavated and penetrated in the ground (eg, rock) or obstacles that should not be excavated (eg, power lines, gas pipes, or waterworks) This may be necessary when encountering a tube (not shown). In order to detect such an obstacle in the ground, the drill head is provided with a radar unit. The radar unit emits an electromagnetic wave, and after the electromagnetic wave is reflected from a conductive object, the electromagnetic wave , Thereby calculating the distance, shape, dimensions and position of the object. Thus, the radar unit is described in more detail in FIGS.

  FIG. 2 shows another embodiment in which the drive unit 4 is arranged in the start shaft 5. According to an understanding of the invention, the drive unit 4 is a ground device.

  3 and 4 show two embodiments of a drill head 1 according to the invention having a radar unit that can be used in the horizontal drilling device shown in FIGS. 1 and 2.

  The drill head 1 of FIGS. 2 and 3 has a cylindrical shaft formed at the rear end in the excavation direction, and the cylindrical shaft has a locking system, by which the cylindrical shaft is moved. It is possible to fix to the tip of the drill rod 2. A drill head front having a shape configured to maximize the propulsive force is provided at the tip of the drill head 1. For this purpose, the drill head front includes various hard alloy elements that provide good cutting action in the ground and are extremely wear resistant. The inclined surface causes a laterally directed deflection during propulsion in the ground, thereby enabling the maneuverability of the horizontal drilling device. The inclined surface can further incorporate two nozzles for flowing bentonite, and the bentonite guided to the drill head 1 through the inside of an external supply pipe (not shown) and the hollow drill rod 2 is These two nozzles discharge from the drill head under high pressure, increasing the propulsive force of the drill by the hydraulic cutting action on the one hand and the softening of the soil in front of the drill head 1 on the other hand.

  The radar unit is arranged in the cylindrical shaft of the drill head 1 and is reflected by a transmitter 6 for generating electric pulses and for radiating electromagnetic waves (reflected radio signals) via an antenna 7. And a receiver 8 for receiving electromagnetic waves. The reflected radio signal is transmitted to the drive unit 4 in an unprocessed state. The drive unit 4 includes an evaluation unit, and the evaluation unit has a display device that can indicate information related to the distance, position, size, and shape of an obstacle existing in the ground. The evaluation unit is further connected to a control unit, which allows the steering unit 4 to be operated by avoiding obstacles by operating the drive unit 4, respectively.

  The radar unit, in particular the antenna 7, sends out electromagnetic waves in a predetermined direction, whereby the region of the drill head 1 where the electromagnetic waves are emitted can be covered with a plate made of oxide ceramics, that is, a dielectric material. In contrast, the remaining part of the housing of the drill head 1 can be made from steel and thus from a conductive material. This plate can ensure that the electromagnetic waves sufficiently pass through the housing of the drill head 1, which makes it possible to monitor the ground on the front and / or side of the drill head 1.

  The drill head 1 shown in FIGS. 3 and 4 is substantially formed of three parts, the shaft end for attaching to the tip of the drill rod 2 and the drilling propulsion force. It consists of a drill head front having a shape designed to be maximal and a radar housing which is arranged between these components of the drill head 1 and forms part of the shaft of the drill head 1. The connection between the three parts of the drill head 1 is implemented by a fast acting closure system with a locking element. Since the drill head 1 is composed of three parts, an optional attachment of the radar unit is possible, whereby the drill head front can also be connected directly to the shaft end. Depending on the ground where the excavation is carried out, radar monitoring may not be necessary, and radar units are also quite expensive, so the number of radar units purchased may be less than the number of drill heads. There may be situations where the optional attachment of the unit only improves effectiveness.

  The transmission of the raw radio signal received by the receiver 8 via the antenna 7 to the drill unit 4 according to the embodiment shown in FIG. The wire 9 is coupled to the receiver 8 and leads to a contact surface that contacts the tip of the drill rod 2. Within the drill rod 2 (each drill rod section 3), a cable for establishing electrical contact from the receiver 8 to the drill unit 4 is provided.

  Transmission of raw radio signals received by the receiver 8 via the antenna 7 according to the embodiment shown in FIG. 4 to the drill unit 4 is performed wirelessly. The receiver 8 transmits the received reflected radio signal to the drill unit 4. The receiver 8 includes a signal transmitter 10 for transmitting the reflected radio signal to the drill unit 4.

  FIG. 5 illustrates signal, data, and power flows according to one embodiment of the invention. FIG. 5 illustrates an exemplary system flow diagram. FIG. 5 schematically shows the components of the drill head 1. The components of the drill head 1 are surrounded by broken lines. However, it is also possible to include components labeled 21 a and 21 b in the drill rod adjacent to the drill head 1.

  According to FIG. 5, the drill head 1 includes a Tx / Rx electronic device 31, an electronic device 21a, and an electronic device 21b. The Tx / Rx electronics 31 is adapted to generate electrical pulses and emit electromagnetic waves indicated by Tx pulses. Further, the received electromagnetic wave indicated by the Rx signal is received by the Tx / Rx electronic device 31.

  The Tx / Rx electronic device 31 is supplied with power by the control unit 22 included in the electronic device 21a. Furthermore, the control unit 22 transmits timing data to the Tx / Rx electronic device 31, and based on this timing data, the Tx / Rx electronic device 31 generates an electric pulse, and an electromagnetic wave is transmitted. Furthermore, the control unit receives raw radar data in the form of signals received by the Tx / Rx electronics 31. Data can be transmitted in an unprocessed state.

  The control unit 22 is described as being adapted to communicate bidirectionally with the radar modem interface 23. The control unit 22 is adapted to receive configuration data and / or status data from the radar modem interface 23 and to transmit to the radar modem interface 23, respectively.

  A posture sensor 24 is provided which is arranged as a part of the drill head electronic device 21a. The attitude sensor 24 can receive power from the control unit 22. The control unit can be connected to the attitude sensor 24 so that the signal generated by the attitude sensor 24 can be received by the control unit 22. The attitude sensor 24 can detect the roll angle of the drill head 1. The roll angle may correspond to the angle at which the drill head 1 rotates about the longitudinal axis of the drill head 1. The control unit 22 can receive a signal corresponding to the roll angle of the drill head 1.

  The control unit 22 can transmit the received radar data together with information regarding the roll angle of the drill head 1 in an unprocessed state. Each information of the radar data combined with the roll angle is called “tagged radar data” and is transmitted to the radar modem interface 23.

  The tagged radar data is transmitted from the radar modem interface 23 of the electronic device 21a to the spread spectrum modem interface 25 of the electronic device 21b via the Ethernet link 26. The Ethernet link 26 provides bi-directional communication between the radar modem interface 23 and the spread spectrum modem interface 25.

  Power is supplied to the control unit 22 via the power conversion and monitoring unit 27. The power conversion and monitoring unit 27 functions as a power supply for the spread spectrum modem interface 25. In addition, the power conversion and monitoring unit 27 provides drill string status data to the spread spectrum modem interface 25.

  The spread spectrum modem interface 25 provides spread spectrum data, which can be transmitted via a drill string to the drill unit 4 that controls drilling. The drill string functions in one direction for power supply and in both directions for radar data signals. Spread spectrum data can be tapped by slip ring 28 from the drill string to a display and / or control device for visualizing radar data and roll angle information. In the control device, the radar data can be processed based on the raw signal and the respective roll angle associated therewith. An image can be displayed on each device 42 indicating the position of an underground obstacle. In addition or alternatively, if the drill head 1 is at risk of touching an obstacle when further moved in the current direction of the drill head 1, a warning signal is generated by the control device 42. Is possible.

  Via the slip ring 28 it is possible to supply signals relating to radar data and / or power to the drill string.

Claims (15)

A drill head (1) for underground drilling, especially for horizontal drilling equipment,
A housing, a transmitter (6) for generating a radio signal, an antenna (7), and a receiver (8) for receiving the reflected radio signal;
In the drill head (1),
The antenna unit (7) is adapted to transmit radio signals into the ground and receive reflected radio signals;
Drill head (1), characterized in that the antenna unit (7) is arranged to receive signals relating to obstacles in front and side of the drill head (1). The receiver (8) is adapted such that the reflected radio signal can be transmitted unprocessed to a terrestrial device;
Drill head (1) according to claim 1. The receiver (8) is coupled to a signal transmitter (10);
The signal transmitter (10) is adapted to transmit the reflected radio signal received by the receiver (8) in an unprocessed state to a ground device;
Drill head (1) according to claim 1 or 2. The terrestrial device is adapted to wirelessly receive the raw reflected radio signal;
Drill head (1) according to any one of the preceding claims. The receiver (8) is coupled to a cable or wire (9);
The cable or wire (9) is connected to a coupling element for transmitting the reflected radio signal to a connecting element of a drill rod segment connectable to the drill head (1).
Drill head (1) according to any one of the preceding claims. The drill head (1) includes a position acquisition device,
The receiver (8) is adapted to transmit the position acquisition device data to the ground device along with the reflected radio signal;
Drill head (1) according to any one of the preceding claims. The receiver (8) is adapted to transmit the reflected radio signal and the position acquisition device data by discrete multitone modulation;
Drill head (1) according to claim 6. In drilling equipment for underground drilling, especially horizontal drilling equipment,
A drilling device, characterized in that it comprises a drill head (1) according to any one of claims 1 to 7 and a ground device. The ground device is adapted to steer the drill head (1);
The drill device according to claim 8. The ground device is adapted to visualize the reflected radio signal and / or the data of the position acquisition device;
The drilling device according to claim 8 or 9. The ground device is adapted to steer the drill head (1) in response to the reflected radio signal and / or data of the position acquisition device;
The drill device according to any one of claims 8 to 10. A method for detecting an object in an underground drilling hole,
Transmitting a radio signal from the drill head (1);
Receiving a reflected radio signal via a receiver (8) in the drill head (1).
Transmitting the radio signal to the ground by the same antenna unit (7); and receiving the reflected radio signal;
Method according to claim 1, characterized in that the antenna unit (7) detects obstacles in front and side of the drill head (1). Transmitting the reflected radio signal received to a ground device in an unprocessed state;
Transmitting the received reflected radio signal via a wire (9) passing through a drill head (1) and a drill rod segment connected to the drill head (1);
The method of claim 12. Transmitting the reflected radio signal received to a ground device in an unprocessed state;
Wirelessly transmitting the reflected radio signal received from the drill head (1) to the ground device (4);
The method of claim 12. Transmitting the reflected radio signal together with position acquisition device data, in particular by discrete multitone modulation,
15. A method according to any one of claims 12 to 14.