The present application describes a rapid burrowing robot (RBR) that can dig tunnels using ultra high temperature rotating plasma torches.

A boring method is provided and can include directing a laser beam at an exposed face of a bulk target in a longitudinal direction. The laser beam can be configured to liquefy and/or gasify the target within the laser beam. The method can also include removing, by the laser beam, a channel of predetermined length and width within the target. The method can further include moving the laser beam in a closed loop of predetermined diameter to define a cut portion of the target laterally bounded by the closed loop. A ligament of the cut portion can remain attached to the target. The method can additionally include separating the ligament from the target. The method can also include removing the cut portion from the target after separating the ligament to form a bore.

A hard rock tunnel boring machine combining microwave heating with high pressure water cutting for assisting in rock breaking includes a tunnel boring machine body, a microwave heating assisted rock breaking system and a high pressure water cutting assisted rock breaking system, wherein the microwave heating assisted rock breaking system is arranged on the tunnel boring machine body, and is used for heating and cracking a rock; and the high pressure water cutting assisted rock breaking system is arranged on the tunnel boring machine body, and is used for performing hydraulic cutting on the rock. A rock breaking sequence lies in that the microwave heating assisted rock breaking system is used for heating and cracking the rock, then the high pressure water cutting assisted rock breaking system is used for performing hydraulic cutting on the rock, and finally, the tunnel boring machine body is used for squeezing and breaking the rock.

A cutter head has a front surface formed with several transmitting ports, a protection plate mounted at an external-end hole of each port, several microwave generating mechanisms distributed in two manners: first, the generating mechanisms are uniformly arranged in the cutter head; second, the microwave generating mechanisms in the same number as hobbing cutters. Each generating mechanism includes a microwave source, a magnetron, a rectangular waveguide, a circulator and a microwave focus radiator, wherein the microwave source is connected with the magnetron, the magnetron is connected with one end of the waveguide, the other end of the waveguide is connected with a first port of the circulator, a second port of the circulator is connected with the microwave focus radiator, and a water load is connected to a third port of the circulator. The focus radiator includes a standard waveguide section, an impedance matching section and a compressed radiation section.

The present invention discloses a laser-assisted tunnel boring machine and a rock fragmenting method thereof, which belongs to the technical field of tunnel engineering. Two rock fragmenting modes exist: a laser-cutter rock fragmenting mode and a cutter rock fragmenting mode, wherein the two rock fragmenting modes are recognized and switched by an intelligent control system, the laser-cutter rock fragmenting mode is used in the hard rock stratum, so that the rock fragmenting efficiency can be improved, and the cutter rock fragmenting mode is used in the soft rock stratum; and for the laser-assisted rock fragmenting mode, hot fragmenting is mainly performed using lasers, and laser heads are installed on a cutter head of the tunnel boring machine and are assisted by water spray systems, to achieve the purposes of auxiliary rock fragmenting by laser radiation for hot cracking and water spray for quick cooling, and mechanical rock fragmenting for excavation. By reasonably selecting a rock fragmenting mode, the adaptability of the tunnel boring machine to the complicated geological conditions of alternatively distributed soft and hard rock is improved, so that not only the rock fragmenting efficiency is improved, but also construction costs are saved.

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 the 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.

Systems, devices, and methods for a microwave energy applicator. The applicator may define an internal channel having one or more longitudinal ridges inside the channel configured to focus energy. The ridges may be moveable. A reflector may be located near an exit of the applicator. In some embodiments, the applicator may define a channel having a decrease in cross-sectional area with a dielectric filler therein, acting to transition from a lower to a higher permittivity material. The various embodiments of the applicator may be attached to a waveguide, which may be an articulable robotic arm having rotatable waveguide segments attached with a microwave generator. The applicator may alter an energy level of microwaves travelling therethrough, for example, to concentrate the energy for application at a rock face in a mine site.

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 the 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.

The invention relates to a method for sinking or introducing cavities in rock, wherein the face of the cavity (2) is melted using electrical plasma generators. In order in such a method to produce an energy density at the face of the cavity (2), the energy density being sufficient to completely or partially evaporate the in-situ stone, the invention proposes arranging a heat shield (4) immediately over the face of the cavity (2), the heat shield (4) forming with the face of the cavity (2) a dynamic pressure space (7) in which a temperature of more than 2000 C. is established at a pressure of more than 2 bar by heating with plasma generators (8). This supply of energy is sufficient to melt the stone in-situ at the face of the cavity (2), to completely or partially gasify it and to remove it from the cavity (2).

A system for excavating a rock face using microwaves. The system may include a microwave generator, an articulable robotic arm with a plurality of rotatably connected rigid waveguide segments, an applicator attached to a distal end of the robotic arm, and a robotic control system. The system produces microwaves with the microwave generator and moves the robotic arm such that the applicator moves along the rock face as the microwaves exit the applicator to precondition the rock face for excavation. Various patterns of microwave treatment, and controls based on sensor feedback, may be implemented.