Systems and methods for non-contact boring
Disclosed are systems and methods to bore or tunnel through various geologies in an autonomous or substantially autonomous manner including one or more non-contact boring elements that direct energy at the bore face to remove material from the bore face through fracture, spallation, and removal of the material. Systems can automatically execute methods to control a set of boring parameters that affect the flux of energy directed at the bore face. Systems can further automatically execute the methods to: monitor, direct, maintain, and/or adjust a set of boring controls, including for example a standoff distance between the system and the bore face, a temperature of exhaust gases directed at the bore face, a removal rate of material from the bore face, and/or a thermal or topological characterization of the bore face during boring operations.
1. A system for boring through geologies via jet impingement, the system comprising:
a chassis;
a cutterhead comprising:
a compressor configured to compress air inbound from an above-ground fresh air supply;
a combustor configured to mix compressed air exiting the compressor with a fuel inbound from an above-ground fuel supply and to ignite the fuel;
a turbine configured to extract energy from combusted fuel and compressed air exiting the combustor to rotate the compressor; and
a nozzle configured to direct exhaust gases exiting the turbine to induce an area of jet impingement at a bore face;
a cutterhead ram connected to the cutterhead and configured to position the cutterhead relative to the bore face;
a temperature sensor;
a controller connected to the cutterhead, the temperature sensor, and the cutterhead ram and configured to:
track a temperature of exhaust gases exiting the nozzle based on a signal output by the temperature sensor; and
to regulate a rate of fuel entering the combustor to maintain the temperature of exhaust gases exiting the nozzle; and
a propulsion system connected to the controller and arranged with the chassis to advance the chassis in a first direction toward a bore face and retract the chassis in a second direction away from the bore face.
2. The system of claim 1 , wherein, during a movement cycle at the bore face, the controller is configured to:
direct the propulsion system to locate the chassis such that the nozzle is located at a target standoff distance from the bore face;
direct the cutterhead ram to move the nozzle across the bore face in order to spallate and remove rock over a bore face area larger than a jet impingement area;
selectively direct the cutterhead ram to pause the nozzle to locate the jet impingement area at a low boring rate region of the bore face; and
advance the cutterhead ram in the first direction by a first removal depth during the movement cycle.
3. The system of claim 1 , further comprising a depth sensor connected to the controller and configured to detect a standoff distance between the nozzle and the bore face, wherein the controller is configured to:
receive a first standoff distance from the depth sensor at a first time;
receive a second standoff distance from the depth sensor at a second time; and
calculate a current boring rate at the bore face based on the difference between the first standoff distance and the second standoff distance over an interval between the first time and the second time.
4. The system of claim 1 , further comprising an optical sensor connected to the controller and directed toward the bore face and configured to output images of the bore face, wherein the controller is configured to:
set a target exhaust gas temperature;
receive an image of the bore face captured by the optical sensor;
scan the image of the bore face for a set of pixels indicative of molten material; and
in response to detection of the set of pixels indicative of molten material, reduce the target exhaust gas temperature.
5. The system of claim 4 , wherein the controller is further configured to:
receive a set of images from the bore face captured by the optical sensor;
scan the set of images of the bore face for a set of pixels indicative of ejected material moving off of the bore face;
characterize the ejected material based on an optical characteristic of the set of pixels associated with the ejected material; and
in response to characterizing the ejected material as molten material, reduce the target exhaust gas temperature.
6. The system of claim 1 , further comprising an afterburner connected to the controller and configured to inject fuel into exhaust gases exiting the turbine to increase the temperature of exhaust gases exiting the nozzle.
7. A system for boring through geologies via jet impingement, the system comprising:
a chassis, a cutterhead, a cutterhead ram, a temperature sensor, a controller, and a propulsion system, wherein:
the cutterhead comprises a compressor, configured to compress air inbound from an above-ground fresh air supply, a combustor, a turbine, an afterburner, and a nozzle;
the combustor comprises a fuel metering unit, configured to adjust an amount of fuel ingested by the cutterhead, an air metering unit;
the air metering unit comprises a sleeve, configured to slide over a range of positions along the combustor, an actuator, configured to transition the sleeve between the range of positions along the combustor to mix compressed air exiting the compressor with the amount of fuel ingested by the cutterhead;
the turbine is configured to extract energy from combusted fuel and compressed air exiting the combustor to rotate the compressor; and
the nozzle is configured to direct exhaust gases toward a bore face to form a jet impingement area of a target size on the bore face at a target standoff distance between the nozzle and the bore face;
the cutterhead ram is connected to the cutterhead and configured to position the cutterhead relative to the bore face;
the controller is connected to the temperature sensor, the fuel metering unit, the air metering unit, and the nozzle and configured to:
track a temperature of exhaust gases exiting the nozzle based on a signal output by the temperature sensor;
selectively direct the fuel metering unit to regulate a rate of fuel entering the combustor and the afterburner to maintain the temperature of exhaust gases exiting the nozzle proximate a target exhaust gas temperature;
and
the a propulsion system is connected to the controller and arranged with the chassis to advance the chassis in a first direction toward a bore face and retract the chassis in a second direction away from the bore face.
8. The system of claim 7 , wherein the controller is configured to selectively ignite the afterburner to increase the temperature of exhaust gases exiting the nozzle.
9. The system of claim 7 , further comprising a depth sensor connected to the controller and configured to detect a standoff distance between the nozzle and the bore face, wherein the controller is configured to:
receive a first standoff distance from the depth sensor at a first time;
receive a second standoff distance from the depth sensor at a second time; and
calculate a current boring rate at the bore face based on the difference between the first standoff distance and the second standoff distance over an interval between the first time and the second time.
10. The system of claim 9 , further comprising an optical sensor connected to the controller and directed toward the bore face and configured to output images of the bore face, wherein the controller is configured to:
set a target exhaust gas temperature;
receive an image of the bore face captured by the optical sensor;
scan the image of the bore face for a set of pixels indicative of molten material; and
in response to detection of the set of pixels indicative of molten material, reduce the target exhaust gas temperature.
11. The system of claim 10 , wherein the controller is further configured to:
receive a set of images from the bore face captured by the optical sensor;
scan the set of images of the bore face for a set of pixels indicative of ejected material moving off of the bore face;
characterize the ejected material based on an optical characteristic of the set of pixels associated with the ejected material; and
in response to characterizing the ejected material as molten material, reduce the target exhaust gas temperature.