US 11,598,209 B2Granted

Method for boring with plasma

AssigneeArcByt, Inc.

InventorsKimberly Abrams, Shivani Torres, Kamyar Mosavat, Barzin Moridian, Artem Tkachenko, Matthew Strangeway, Molly Dicke, Arielle Dobrowolski, Randy Link, Nimit Baid

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Abstract

Systems to bore or tunnel through various geologies in an autonomous or substantially autonomous manner can include 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. The 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 trigger an optical sensor to capture images at the bore face, generate temperature profiles, identify spall fragments and hot zones and/or adjust a set of boring controls. For example, the system can execute methods to adjust a standoff distance between the system and the bore face, and adjust power and/or gas supply to the non-contact boring element.

Claims20

Dependent claims

A system for boring with plasma, the system comprising:

a chassis;
a propulsion system connected to the chassis and configured to advance the chassis at a target standoff distance from a bore face;
a plasma torch ram coupled with the propulsion system and configured to adjust the target standoff distance from the bore face;
a plasma torch coupled to the plasma torch ram,
wherein the plasma torch ram is configured to perform:
advance and retract the plasma torch along the chassis along a longitudinal axis;
tilt the plasma torch along a pitch angle relative to the longitudinal axis and a yaw angle relative to the longitudinal axis;
lift the plasma torch vertically along a vertical axis perpendicular to the longitudinal axis;
and
shift the plasma torch laterally along a horizontal axis perpendicular to the longitudinal axis and the vertical axis;
an optical sensor connected to the chassis and facing the bore face;
and
a controller coupled to the propulsion system, the plasma torch ram, the plasma torch, and the optical sensor, wherein the controller is configured to:
modify the pitch angle and the yaw angle of the plasma torch in accordance with the target standoff distance in response to an area of molten material exceeding a target area;
drive the plasma torch, facing the bore face, to the target standoff distance from the bore face;
actuate the plasma torch to remove material from the bore face at a target temperature;
access an optical image of the bore face at a first shutter speed and a first lens shade position;
detect intransient pixels in the optical image based on pixel intensities in a preceding image;
interpret a temperature profile across the bore face based on intensities of intransient pixels in the optical image, the first shutter speed, and the first lens shade position;
detect the area of molten material at the bore face based on the temperature profile;
increase a standoff distance between the plasma torch and the bore face in response to the area of molten material exceeding the target area;
and
increase a power of the plasma torch in response to the area of molten material falling below the target area.

20 more elements

A method for boring with plasma, the method comprising:

by a controller, at a first time, driving a plasma torch, facing a bore face, to a target standoff distance from the bore face;
by the controller, actuating the plasma torch to remove material from the bore face;
by the controller, accessing an optical image of the bore face at a first shutter speed and a first lens shade position;
by the controller, detecting intransient pixels in the image based on pixel intensities in a preceding image;
by the controller, interpreting a temperature profile across the bore face based on intensities of intransient pixels in the optical image, the first shutter speed, and the first lens shade position;
by the controller, detecting an area of molten material at the bore face based on the temperature profile;
by the controller, in response to the area of molten material exceeding a target area, increasing a standoff distance between the plasma torch and the bore face;
by the controller, in response to the area of molten material falling below the target area, increasing a power of the plasma torch;
by the controller, actuating a plasma torch ram to extend the plasma torch along a longitudinal axis;
by the controller, actuating the plasma torch ram to retract the plasma torch along the longitudinal axis;
by the controller, actuating the plasma torch ram to tilt the plasma torch along a pitch angle and yaw angle relative to the longitudinal axis;
by the controller, actuating the plasma torch ram to lift the plasma torch along a vertical axis perpendicular to the longitudinal axis;
by the controller, actuating the plasma torch ram to shift the plasma torch along a horizontal axis;
and
by the controller, in response to the area of molten material exceeding the target area, modifying the pitch angle and the yaw angle of the plasma torch in accordance with the standoff distance.

12 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/471,871Filed 10 Sep 2021 · us provisional application
Priority: 11 Sep 2020
Published: US 2022/0082017 A117 Mar 2022
Granted: 7 Mar 2023
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

E21C 41/16
Methods of underground or surface mining ; Layouts therefor: methods of underground mining ; Layouts therefor
E21D 9/1073
Making by using boring or cutting machines: applying thermal energy, e.g. by projecting flames or hot gases, by laser beams
E21B 7/14
Special methods or apparatus for drilling: drilling by use of heat, e.g. flame drilling
E21C 37/16
Other methods or devices for dislodging with or without loading: by fire-setting or by similar methods based on a heat effect