Abstract:
A system having a number of land units [ 100, 4000, 5000 ] is disclosed which operates to efficiently find and create boreholes [ 5 ] to one or more underground targets [ 1 ]. Each of the land units [ 100, 4000, 5000 ] may be remotely controlled from a central command unit [ 6000 ]. The land unit also may be self-controlled, or partially controlled by the central command unit [ 6000 ]. The system [ 10 ] is reconfigurable to reallocate tasks to functional land units [ 100, 4000, 5000 ] which were originally allocated to land units which have been destroyed and are now non-functional.

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
       [0001]    The present application claims priority from U.S. Provisional Patent Application “The Archimedes Javelin” by Wojciech Andrew Berger, Robert A. Spalletta, Jerry A. Carter, Marian Mazurkiewicz, Richard M. Pell, Christopher Davey, Ser. No. 60/666,970 filed Mar. 31, 2005. It is also related to PCT Applications “System for Rapidly Boring Through Materials” by Wojciech Andrew Berger, Robert A. Spalletta, Jerry A. Carter, Marian Mazurkiewicz, Richard M. Pell, Christopher Davey and “Multiple Pulsejet Boring Device” by Wojciech Andrew Berger, Robert A. Spalletta, Jerry A. Carter, Richard M. Pell, Marian Mazurkiewicz. It is also related to PCT Application “Cryogenic Pulsejet” by Robert A. Spalletta. The PCT applications were all mailed Mar. 23, 2006. All of the above applications are hereby incorporated by reference as if set forth in their entirety herein. 
     
    
     BACKGROUND OF THE INVENTION 
       [0002]    1. Field of the Invention 
         [0003]    The present invention relates to command and control of a system for coordinating multiple land units which rapidly bore small diameter access holes through the ground materials to specified locations. 
         [0004]    2. Discussion of Related Art 
         [0005]    In various emergency situations, it is necessary to quickly and accurately provide an access hole to underground voids or objects. In situations where miners are trapped beneath the surface, speed is critical to provide air, or to pump out ground water to keep them alive. This would be the first step in the rescue operations. 
         [0006]    Speed is also critical in other emergency situations such as in neutralizing underground terrorist weapons or bunkers. These must be neutralization before the enemy can take countermeasures. 
         [0007]    In the case of an underground weapon or bunker, the prior art solution was to drop bunker-busting “bombs” on the surface above the underground target. These typically may be buried under up to 100 m of earth and stone. 
         [0008]    Obviously, the prior art bombing techniques would not be suitable in situations where one would like to recover people, devices, materials, and information in the bunker unharmed. Therefore, underground rescue attempts for people trapped underground, such as miners or earthquake victims would have to use other means. 
         [0009]    Also, these prior art methods would not be appropriate in situations where one would like to recover devices, materials, and information intact and undamaged, that were stored underground, such as in an underground bunker. 
         [0010]    There are systems which employ single drilling units, or a number of these single drilling systems. Since these are not designed to coordinate with each other, it is simply several systems drilling without coordination, communication or interaction with the other systems. 
         [0011]    The system is intended to be deployed in rough or inaccessible terrain. In rough mountainous terrain, they may fall into trees, off cliffs, or roll down steep inclines. 
         [0012]    In the case of an earthquake, the roads and bridges are destroyed. In the case of a battle scenario, the roads and bridges are destroyed, and in addition, there are enemy entities trying to disable the drilling units. 
         [0013]    Due to the above problems, the systems may be dropped from aircraft. In this deployment, there is the additional problem of being destroyed on impact. 
         [0014]    If each is pre-programmed to image a region and bore to a given target, if one is lost, so is the imaging relating to region for which this was programmed. Also, since this unit is disabled, it will not be boring to its pre-programmed target. 
         [0015]    Therefore, there is a current need for a fast, efficient method of using multiple land units to rapidly image and bore to underground objects or voids. 
       SUMMARY OF THE INVENTION 
       [0016]    One embodiment of the present invention is a system [ 10 ] for rapidly boring though a material to a desired target location comprising:
       a) central command unit [ 6000 ];   b) a plurality of ground units for boring a hole to a target location, each unit having a platform [ 1000 ], umbilical subsystem [ 2000 ], a boring subsystem [ 3000 ] with a boring head [ 3200 ], a plurality of sensors [ 1810 ,  2810 ] and actuators [ 2100 ] throughout the system, and a computing unit [ 1910 ] adapted to operate in the following modes:   i. an auto mode in which the computing unit [ 1910 ] of each ground unit [ 100 ,  4000 ,  5000 ] performs any sensing and actuating functions;   ii. a remote-controlled mode in which the central command unit [ 6000 ] controls the computing unit [ 1910 ] and its sensing and actuation functions from a remote location; and   iii. a mixed mode in which the computing unit [ 1910 ] of each ground unit [ 100 ,  4000 ,  5000 ] performs sensing and actuating functions, and the central command unit [ 6000 ] may remotely adjust or override the sensing and actuation functions.       
 
         [0022]    The present invention may also be embodied as a system [ 10 ] for rapidly boring though a material to a desired target location comprising:
       a) central command unit [ 6000 ];   b) a plurality of ground units for boring a hole to a target location, each unit having a platform [ 1000 ], umbilical subsystem [ 2000 ], a boring subsystem [ 3000 ] with a boring head [ 3200 ], a plurality of sensors [ 1810 ,  2810 ] and actuators [ 2100 ] throughout the system, and a computing unit [ 1910 ] having initial pre-stored tasks to image a defined underground region and to bore to a defined underground location [ 1 ].       
 
       OBJECTS OF THE INVENTION 
       [0025]    It is an object of the present invention to provide a system of remote controlled land units for rapidly finding and boring access holes to underground objects and/or voids (“targets”). 
         [0026]    It is another object of the present invention to provide a system of land units capable of automatically rapidly finding and boring access holes to targets. 
         [0027]    It is another object of the present invention to provide a system of land units capable of automatically rapidly finding and boring access holes to targets which may be overridden by a remote central command unit. 
         [0028]    It is another object of the present invention to provide a system of land units capable of automatically reallocating tasks to be performed when a land unit is destroyed or disabled. 
         [0029]    It is another object of the present invention to provide a reconfigurable system of land unit for rapidly finding and aiding in the rescue of people trapped underground. 
         [0030]    It is another object of the present invention to provide a resilient, reconfigurable system of land units for rapidly neutralizing underground weapons and bunkers. 
         [0031]    It is still another object of the present invention to provide a reconfigurable system of land units for rapidly boring holes horizontally under roads, highways, or buildings. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0032]    The advantages of the instant disclosure will become more apparent when read with the specification and the drawings, wherein: 
           [0033]      FIG. 1  is a perspective view of several coordinated ground units according to one embodiment of the present invention, as they appear in operation. 
           [0034]      FIG. 2  is a simplified schematic block diagram of a land unit of  FIG. 1  according to one embodiment of the present invention. 
           [0035]      FIG. 3  is a perspective view illustrating an embodiment of the ground unit according to the present invention. 
           [0036]      FIG. 4  is a side elevational view of an embodiment of the umbilical subsystem and the boring subsystem according to the present invention. 
           [0037]      FIG. 5  is a perspective view of the umbilical subsystem and the boring subsystem of  FIGS. 1 ,  2  and  4 . 
           [0038]      FIG. 6  is an enlarged partial illustration of one embodiment of the umbilical subsystem according to the present invention. 
           [0039]      FIG. 7  is a perspective view of one embodiment of a boring subsystem showing a plurality of pulsejets according to the present invention. 
           [0040]      FIG. 8  is a simplified block diagram of the central command unit of  FIG. 1 . 
       
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       [0041]    All elements not specifically described herein have the same function as described in the applications incorporated by reference above. 
         [0042]    An embodiment of the present invention is shown in perspective view in  FIG. 1 . A plurality of ground units  100 ,  4000 ,  5000  are deployed on the ground and positioned near their intended targets which may be underground voids or objects. Land unit  100  is shown positioned above target  1 . Ground units  100 ,  4000 ,  5000  may be delivered there by a number of different conventional known methods including an air-drop for inaccessible locations. 
         [0043]    A plurality of seismic sensors  1810  may be attached to ground units  100 ,  4000 ,  5000  or scattered on the ground. These may sense phenomena and send it back to the ground units  100 ,  4000 ,  5000  or central control unit  6000  via telemetry. 
         [0044]    A central command unit  6000  may be located remotely at a land base, ship based or located on an aircraft. The land units  100 ,  4000 ,  5000  and central command unit  6000  communicate with each other. 
         [0045]    Ground unit  100  employs a platform subsystem  1000  having retention and orientation devices  1500  which secure ground unit  100  to the ground and tilts platform  1000  to an optimum orientation for boring to target  1 . Platform subsystem  1000  is designed to hold, store and carry all the equipment during deployment, initiate boring of an access hole, hold materials to be used in a fuel reservoir, stabilize ground unit  100  for boring, and communicate with other units. 
         [0046]    A boring subsystem  3000  bores down through the ground toward target  1 , creating an access hole  5 . Boring subsystem  3000  is designed to force the excavated materials out of the access hole  5  and to the surface. 
         [0047]    Boring subsystem  3000  is connected to platform subsystem  1000  by an umbilical subsystem  2000 . 
         [0048]    Umbilical subsystem  2000  connects the Platform  1000  and Boring  3000  subsystems. It acts to pass materials, electricity, and control signals between platform  1000  and boring  3000  subsystems. 
         [0049]    Umbilical subsystem  2000  also employs a number of sensors and actuators. 
         [0050]    Mechanical actuators absorb much of the forces produced during boring, as well as for steering and advancing umbilical subsystem  2000  and boring  3000  subsystems deeper into the access hole  5 . Each subsystem is described in greater detail below. 
       Loss of Land Units 
       [0051]    Since these land units  100 ,  4000 ,  5000  are used in emergency situations, which need to be deployed quickly, or are used in inaccessible areas, as stated above, they may be air dropped. The land units may hit trees, fall down canyons, off cliffs, or impact hard rock faces upon deployment. Some land units may be destroyed or inactivated. 
         [0052]    In the interest of speed and efficiency, each land unit is programmed with certain tasks. In one embodiment, they operate in parallel, each covering a specific region. This may include, providing sonic shock waves to the ground, receiving reflected sonic waves, transmitting and/or receiving other signals. The land unit may also be responsible for processing information which is used by at least one other land unit, or central command unit  6000 . 
         [0053]    Therefore, if this land unit is disabled, the above functions will not be performed without reconfiguration of the system. 
         [0054]    To understand their high level function control and allocations, it is important to understand the systems and functioning of each ground unit  100 ,  4000 ,  5000 . 
       Platform Subsystem 
       [0055]    Platform subsystem  1000  is shown and described in connection with  FIGS. 2 and 3 . Platform  1000  carries all the devices of ground unit  100  to an intended location. The umbilical subsystem  2000  employs elements as described in the “Cross Reference to Related Applications”, above with any additional elements and functionality described herein. 
         [0056]    One or more pumps (not shown) may be required to pump the energetic fluid  7  (and also the payload fluid) through umbilical subsystem  2000  to boring system  3000 . 
         [0057]    There are sensors which monitor the functioning of the pumps, the flow of one or more fluids and the pressure and levels of the fluid reservoir and other reservoirs. 
       Umbilical Subsystem 
       [0058]    The umbilical subsystem performs four key functions during the mission: (a) acting as a structural member assuring constant descent; (b) acting as a conduit for the energetic fluid  7  from the platform  1000  to boring subsystem  3000 , (c) acting as a stable platform for propulsion and steering actuators mounted at intervals on the outer umbilical surface, and (d) acting as a delivery pump for pumping life-support or neutralizing materials from platform  1000 . The umbilical subsystem  2000  employs elements as described in the “Cross Reference to Related Applications”, above with any additional elements and functionality described herein. 
         [0059]    One embodiment of the umbilical subsystem  2000  according to the present invention is shown in perspective views in  FIGS. 4 and 5 . Here it can be seen that the umbilical subsystem  2000  is designed to be flexible. Umbilical subsystem  2000  attaches to, and carries boring subsystem  3000  having a plurality of pulsejets  3100  located at its distal end. 
         [0060]    In  FIG. 6 , the umbilical subsystem  2000  is shown constructed from a flexible material or a plurality of articulating segments  2110 . These segments  2110  may partially fit inside, and be pulled out from adjacent segments, thereby reducing and increasing the length of umbilical subsystem  2000 , respectively. These may also be inserted into the adjacent umbilical segment  2110  in an uneven manner causing the umbilical to curve in a desired direction. 
         [0061]    Each segment  2110  has hydraulic, pneumatic, artificial muscle, fluid driven or other mechanical actuators  2100 . Therefore, the segments  2110  may be selectively pulled into, or extended from adjacent segments thereby causing the umbilical subsystem  2000  to lengthen, shorten, or to curve in a given direction. 
         [0062]    The umbilical sensors and actuators are used here for descriptive purposes, however, sensors and actuators will be used throughout the system. When one of these actuators or sensors is mentioned, it is to be understood that the same will apply to other sensors and actuators of the system. 
       Umbilical Actuators 
       [0063]    The actuators  2100  in the umbilical  2000  control propulsion, guidance, steering, stabilization, debris conveyance and umbilical rigidity. 
         [0064]    Each segment or portion of the umbilical  2110  may also employ an electro-viscous material which can be individually actuated. An electro-viscous material is one which changes its viscosity when an electric current is passed through it. These may also be compartmentalized with a flexible skin or in separate segments  2110 . Then, sections/portions may be operated to have selected rigidity allowing the umbilical to be pushed or pulled through the borehole  5 . The electro-viscous compartments are also considered umbilical actuators  2100 . 
         [0065]    Therefore, actuation of the umbilical actuators  2100  is implemented as a small implementation of umbilical actuators  2100  for a plurality of segments  2100  in three dimensions. 
         [0066]    Similarly, resulting stiffness at the end of umbilical subsystem  2000  is a function of the stiffness of each segment over the length of the umbilical. 
         [0067]    Similarly, the actual 3-dimensional location of the end of the umbilical  2000  is the summation of the individual locations from the individual umbilical sensors  2810  of each segment, integrated over the segments of the umbilical. 
         [0068]    Therefore, actuation of the umbilical  2000  must take these conditions into account to move the end to the proper location, or maintain the proper stiffness of the umbilical  2000  over a given section of its length. 
       Umbilical Sensors 
       [0069]    The umbilical sensors  2810  monitor stresses, strains, temperature, 
         [0070]    The umbilical sensors  2810  will monitor the state of actuators, position, orientation, velocity, acceleration, inclination, pressure, stress, strain, vibration, fluid  7  flow through fluid conduit  2900 , flow through exhaust conduit  2500 , umbilical rigidity and integrity. They may also monitor chemical and radioactive characteristics of the ground. 
         [0071]    The components of the sensors and actuators will be designed to withstand high temperatures and other harsh environments. 
       Boring Subsystem 
       [0072]      FIG. 7  is a perspective view of one embodiment of a boring subsystem  3000  according to the present invention. The end of the boring subsystem  3000  is a boring head  3200  containing ten to twenty pulsejets  3100 . The boring subsystem  3000  employs elements as described in the “Cross Reference to Related Applications”, above with any additional elements and functionality described herein. Pulsejets  3100  receive energetic fluid  7 , and cause the fluid to create a rapidly expanding bubble forcing portions of the fluid out of a nozzle  3260  at high speeds as a plurality of fluid slugs  10 . Since the fluid used is highly incompressible, the impact of slugs  10  bores through rock and earth. 
       Boring Body 
       [0073]    A boring body  3300  behind boring head  3200  protects and houses a pulse controller  3330  for causing the ignition of the energetic fluid  7 . It also encloses a sensor package  3320 , for sensing physical properties related to the boring subsystem  3000 . 
       Borehead Sensors 
       [0074]    This sensor package  3320  will include monitoring and analysis of telemetry from sensors in the boring head  3300  and umbilical  2000  to determine the type of material the boring head  3300  is boring through, has bored through, or is about to bore through (the “geology”). 
         [0075]    The sensors package  3320  may include static/dynamic accelerometers, geophones, and gyros will sense conditions around and ahead of the boring head  3200 . They may sense state of actuators, position, orientation, velocity, acceleration, inclination, pressure, stress, strain, vibration, chemical and radioactive characteristics. 
         [0076]    The sensor package  3320  will provide information to computer control  3310  which will adjust the course by controlling and adjustment of pulsejet  3100  firing frequency, sequence and intensity. Computer control  3310  will also calculate these parameters for steering and forward progress optimization. Computer control  3310  will provide real-time solutions to control of the mechanical performance of umbilical  2000  by selectively energizing of electro-viscous umbilical actuators  2100  throughout the length and circumference of umbilical  2000 . 
       Pulsejet Control 
       [0077]    Computer control  3310  and pulse controller  3330  determine when to ignite the energetic fluid  7 . Pulse controller  3330  causes an ignition device  3240  to ignite energetic fluid  7  in a combustion chamber  3230  at the proper instant to cause a slug  10  to be formed and fired out of nozzle  3260 . 
         [0078]    Computer control unit  3310  will also calculate when nozzle  3260  encounters target  1 . By sensing physical parameters through sensor package  3320 , computer control unit  3310  can detect voids, fluids, etc. in the ground near boring head  3200 . This may be based upon the rate of penetration and applied pressures. Computer control unit  3310  will receive data from the sensors in sensor package  3320  and potentially interact with computing device  1910  of platform  1000  (of  FIG. 1 ) to determine the direction which to bore to most effectively reach target  1  (of  FIG. 1 ). The control of boring subsystem  300 Q steering it toward target  1  is more fully explained in co-pending patent application entitled “Multiple Pulsejet Earth Boring Device” hereby incorporated by reference as if set forth in its entirety herein. 
       Imaging Devices 
       [0079]    Referring now to  FIGS. 1 ,  4 ,  5 ,  6 , and  7 , initial imaging of the target could be attained by some external underground imaging system and stored in ground unit  100  for later use. For example, seismic sensors having built in telemetry transmitters are dropped onto the ground (shown as seismic sensors  1810  of  FIG. 1 ). A small explosion is created to cause vibrations in the ground. The sensors detect the vibrations and radio the sensed signal back to the ground units  100 ,  4000 ,  5000  and/or central command unit  6000 . 
         [0080]    The present invention may also use its own active seismic sources ( 1820  of  FIG. 1 ) to determine the location, depth, and rock properties (structure and seismic velocities) of the target ( 1  of  FIG. 1 ). 
         [0081]    In one embodiment of the present invention, each land unit [ 100 ,  4000 ,  5000  is initialized with an initial target  1  and an initial region to image. 
         [0082]    The imaging system would consist of a seismic source  1820  and seismic sensors  1810  located on platform  1000  (of  FIG. 1 ). Umbilical sensors  2810  may be attached to umbilical subsystem  2000  which may also act as seismic sensors. A sensor package  3100  in boring subsystem  3000  may also include the seismic sensors. 
         [0083]    Computing device ( 1910  of  FIG. 2 ) receives the sensor output, either by hard wire, or via telemetry. 
         [0084]    Computing device ( 1910  of  FIG. 2 ) then creates an underground image showing the target and other underground features. Computing device  1910  also monitors sensors on boring subsystem  3000  and umbilical subsystem  2000  and superimposes their locations on the underground image. 
       Communication 
       [0085]    Each of the land units employs a communication unit  1030  as shown in  FIG. 2 . These units are capable of communicating with each other and central command unit. Communications units  1030  allow communication of data relating to commands, sensor readings, inter-computer communication as well as voice and sounds. 
         [0086]    Each communication unit  1030  is connected to computing unit  1910  in each land unit ( 100 ,  4000 ,  5000  of  FIG. 1 ) allowing communication of any information of computing unit  1910 . It is also connected to the data cables  2600  permeating the system allowing direct communication with lower level devices such as actuators and sensors. Therefore, readings from sensors may be directly communicated to central command  6000 . Also, commands may be directly sent to each actuator. 
       Distributed/Centralized Intelligence 
       [0087]    Some decision capabilities will reside in the underground portion of the system. Intelligence may be distributed in system components such as computer control  3330  and valve timing  3220  to measure data, analyze data and interpret results. Responses should include activating other systems in response. 
         [0088]    Referring now to  FIG. 2 , any computing system may break up functions to be performed and allocate them to various computing devices. There may be dedicated computing devices for each of the functions, or a main computing device may perform all of the computing functions. It is understood that this invention covers various arrangements in which the functions are allocated between the computing devices. For example, it has been described here and in the patent applications listed in “Cross Reference to Related Applications” that a computer control  3310  provides a rate to pulse controller  3330  at which a pulsejet ( 3100  of  FIG. 7 ) is to be fired. The pulse controller  3330  then monitors the time which has passed since the last ignition and provides a command to the igniter at the proper time to cause the ignition. Pulse controller  3330  then continuously repeats this function. Computer control  3310  has delegated this function to the dedicated pulse controller  3330 . 
         [0089]    The system could have also been designed such that computer control  3310  counted down the time and sent the ignition command to the ignition device  3240  by itself, eliminating the pulse controller  3330 . 
         [0090]    Therefore, the computing device  1910  is running the system and delegating out several functions to dedicated computing devices. 
       Operation 
       [0091]    1. Mixed Mode 
         [0092]    Referring now to  FIG. 1 , the present invention as generally described above, operates in a Mixed Mode in which each land unit  100 ,  4000 ,  5000  performs its programmed tasks autonomously, but may be adjusted or overridden by the central command unit  6000 . In this mode, operation of the land units  100 ,  4000 ,  5000  can be adjusted or overridden by the central command unit  6000 . This may be done by sending a command from the central command unit  6000  to the computing device  1910  causing it to modify its command or providing sensor readings. Central command unit  6000  may also directly send commands to the actuators to modify, cancel, or replace commands from the computing device  1910  and read sensor readings directly from land unit  100 ,  4000 ,  5000  sensors. 
         [0093]    2. Remote Mode 
         [0094]    The land units  100 ,  4000 ,  5000  may operate in a “Remote Mode”. In this mode, land units are placed under the direct control of robots of central command unit  6000 . 
         [0095]      FIG. 8  is a simplified block diagram of the central command unit of  FIG. 1 . Information from land Units  100 ,  4000 ,  5000  are communicated to Central Command Unit  6000 . Central Command Unit  6000  may have one or more control stations  6100 ,  6200 ,  6300  and  6400 . A control station  6100  is shown in greater detail. Communications Unit  6130  is coupled to a central processing unit (CPU)  6110 . CPU  6110  is coupled to at least one monitor  6150  for displaying images to user. CPU  6110  also has input devices which may be joysticks  6170 , keyboards  6190  and various other known input devices allowing the users to interact with CPU  6110 . 
         [0096]    In its operation, any information which can be sensed by sensors on land units  100 ,  4000 ,  5000  can be directed to users at control stations  6100 - 6400 . This information may be presented to the users in the form of audio, video, text, graphic or other means. Users then select and operate any of the systems on land units  100 ,  4000 ,  5000  to remotely actuate them. 
         [0097]    As discussed elsewhere in this application, users at central command unit  6000  can sense information from devices having the highest intelligence level through the lowest intelligence level on land Units  100 ,  4000 ,  5000 . For example, central command unit  6000  may monitor the functioning of the high level computing device  1910  down to the low level ignition device  3240  both of  FIG. 2 . 
         [0098]    Similarly, users at the central command unit  6000  can also actuate systems from the highest level of intelligence to lowest level of intelligence to perform desired duties. For example, central command unit  6000  can request that computing device  1910  turn boring head  3200  ten degrees to one side relative to its current position. 
         [0099]    Alternatively, central command unit  6000  may directly calculate and direct the low level ignition firings of the individual ignition device  3240  to cause boring head  3200  to turn ten degrees to one side relative to its current position. 
         [0100]    Central command unit  6000  can therefore operate any and all systems of the land units as remote robots allowing them to perform as much, or as little of the processing as desired. 
         [0101]    Central command unit  6000  also has the capabilities to collect data not only from all of the land units, but from telemetry sensors and other control bases, which may be air, or land based. This is shown as the “network”. Central command may therefore create images using data from a number of land units and other sources. Central command unit also knows the tasks which each land unit is trying to perform. 
         [0102]    Central command unit may also determine which land units are disabled and destroyed. This becomes important in the reallocation section below. 
         [0103]    Referring again to  FIG. 2 , sensor data is sent from communications unit  1030  to central command unit  6000  in this Remote Mode. The sensor data providing images and readings indicating to the remote operator the location, position, orientation, temperature, stresses, strains, forces, tank volumes and other relevant status information. 
         [0104]    Communications device  1030  receives the transmitted commands and passes them to ether the computing unit  1910  or to data cables  2600  and ultimately to the proper actuator, based upon the preference of the user at the central command unit  6000 . 
         [0105]    3. Auto Mode 
         [0106]    Referring to  FIG. 1 , in the Auto Mode, all of the functions of the land units  100 ,  4000 ,  5000  are self-directed and under the control of computing device  1910  of each land unit. 
         [0107]    This mode does not require any outside commands or control. It also only relies upon it own stored or acquired imagery and does not ‘see’ what the other land units see. 
         [0108]    It has its advantages in that it cannot be tricked by other entities trying to control the unit or set it on an incorrect course. Also, this may be the only mode in which the land units  100 ,  4000 ,  5000  can operate if its communications unit  1030  is destroyed or malfunctioning. This also may be the only mode that it can operate if it is in an inaccessible area and cannot receive communications from other land units or central command unit  6000 . 
       Reallocation 
       [0109]    1. Mixed Mode/2. Remote Mode 
         [0110]    Referring now to  FIG. 1 , there is communication between the central control unit  6000  and the land units  100 ,  4000 ,  5000  in both the Mixed Mode and the Remote Mode. Therefore, in these modes, the Central Command Unit  6000  periodically assesses which land units  100 ,  4000 ,  5000  are functional. The Central Command Unit  6000  runs a quick health check to determine which are still functional (“live”). the central control unit  6000  determines inoperable land units. The central command unit  6000  then reallocates the tasks of inoperable land units  5000  to those which are operable  100 ,  4000  to ensure that all the tasks will be completed. 
         [0111]    Just as described in the override function above, remote tests of functionality may be performed at various levels of system intelligence. For example, the ignition devices may be individually and directly checked as a low-level test. Similarly, tests may be requested from computing device  1910  which is capable of running tests of lower level equipment and reports the results of the tests to central command  6000 . 
         [0112]    Their locations and functional abilities are acquired. Some land units may have tracks giving them the ability to crawl on the ground, others may be able to ford streams, etc. The locations of known geographic features such as rivers, streams, lakes, ponds, mountains, Cliffs, forests, etc. are also acquired. Based upon the locations of the live units, their abilities and the geographic features, the Central command unit  6000  re-allocates regions to be imaged, and targets to bore toward, as well as other related instructions. 
         [0113]    3. Auto Mode 
         [0114]    If communications with central command unit  6000  is inoperable, such as in the case of RF interference or cross-talk, the land units  100 ,  4000 ,  5000  will default to the Auto Mode and continue to execute their last programmed instructions. In military applications, the communication channels may be intentionally jammed or another entity may be transmitting false or misleading information. 
         [0115]    In Auto Mode, there would be no reallocation of assignments by the central command unit  6000 . However, if several land units  100 ,  4000 ,  5000  are able to communicate with each other, they can reallocate tasks by themselves. 
         [0116]    In Auto Mode reorganization, each of the land units transmits their health status and their location to the others. Each keeps track of this information and the signal strength of the land unit&#39;s communication and based upon these factors, votes to determine a master. The master may be determined from the remaining active land units in a random nature by land unit number. The master may be determined by the land unit with the best communication with the most other live units. 
         [0117]    It may also be determined by indicating the one having the most complete data set. It may be the one with the fastest processing speed. The master then allocates tasks to the remaining land units. 
         [0118]    In another alternative embodiment, there is no master, but the units interact as peers to correctly allocate tasks. In this case, each of the land unit may have all of the information of the system and each constantly updates the others as new information is acquired. 
         [0119]    The present invention coordinates a plurality of land units to quickly locate and provide an access hole to one or more underground targets. These may be located in areas that are inaccessible to humans, due to the danger or hazardous environment. The present invention will function more quickly and accurately than the prior art devices. 
         [0120]    Since other modifications and changes varied to fit particular operating requirements and environments will be apparent to those skilled in the art, the invention is not considered limited to the example chosen for the purposes of disclosure, and covers all changes and modifications which do not constitute departures from the true spirit and scope of this invention.