Multi-Tool Boring Systems and Methods of Operating Such Systems

This application is a continuation of U.S. patent application Ser. No. 18/608,671, filed on 2024 Mar. 18, which is a continuation of U.S. patent application Ser. No. 18/462,311, filed on 2023 Sep. 6 and granted as U.S. Pat. No. 11,959,338 on 2024 Apr. 16, which claims the benefit under 35 U.S.C. § 119(e) of U.S. Provisional Patent Application 63/375,829, filed on 2022 Sep. 15, both of which are incorporated herein by reference in their entirety for all purposes.

Conventional techniques for tunnel boring and/or underground pipe installation (including pipe replacement) are slow and require multiple different types of complex and expensive equipment. For example, a process may involve pushing a casing (e.g., a pipe) into the ground using one type of equipment (e.g., hydraulic pipe jacks) followed by removing dirt from the casing using another type of equipment (e.g., an auger). Switching from one type of equipment to another type requires significant time (e.g., hours) and can cause various issues (e.g., misalignment of different types of equipment). As a result of these complexities and time requirements, tunnel boring and/or underground pipe installation remains limited.

What is needed are new boring systems and methods such as multi-tool boring systems and methods of operating such systems.

Described herein are multi-tool boring systems and methods of operating such systems for tunnel boring and/or underground pipe installation. A multi-tool boring system is specially configured for fast installation and replacement of various tools, such as a pneumatic rammer and a hydraulic drive, enabling different operating modes of the system, e.g., pilot tube installation, auger boring, pipe ramming, pilot pullback boring, static pipe bursting, and non-contact boring. In some examples, a multi-tool boring system comprises a track assembly, a jacking frame slidably supported on the track assembly, and an impact plate assembly, which is attached to the jacking frame and comprises an impact plate and a plurality of shock absorbers positioned between the impact plate and the jacking frame. The impact plate comprises an impact plate opening configured to engage and support a pneumatic rammer. The rammer can be replaced with a hydraulic drive with a shaft protruding through the openingc.

In some examples, a multi-tool boring system comprises a track assembly comprising two tracks extending parallel to a primary axis of the multi-tool boring system. The multi-tool boring system also comprises a jacking frame, slidably supported on the track assembly, and an impact plate assembly attached to the jacking frame. The impact plate assembly comprises an impact plate and a plurality of shock absorbers positioned between the impact plate and the jacking frame along an outer edge of the impact plate. The impact plate also comprises an impact plate opening defined by an inner edge. The inner edge is configured to engage and support a pneumatic rammer when the pneumatic rammer is attached to the impact plate and partially protrudes into the impact plate opening. In some examples, the inner edge formed a cone-shaped surface symmetrical about the primary axis.

In some examples, the jacking frame comprises a pair of drive-supporting plates, each extending substantially perpendicular to the primary axis. The hydraulic drive is configured to bolt to each of the drive supporting plates when the hydraulic drive is attached to the jacking frame and when the pneumatic rammer is removed from the multi-tool boring system. In more specific examples, each of the pair of drive supporting plates comprises a plate opening. The hydraulic drive protrudes through the plate opening of each of the pair of drive supporting plates when the hydraulic drive is attached to the jacking frame. The pneumatic rammer protrudes through the plate opening of each of the pair of drive-supporting plates when the pneumatic rammer is attached to the impact plate.

In some examples, the impact plate assembly further comprises a plurality of additional shock absorbers and a plurality of supporting bolts. Each of the plurality of supporting bolts protrudes through one of the plurality of additional shock absorbers. Each plurality of additional shock absorbers is positioned closer to the primary axis than any one of the plurality of shock absorbers. The jacking frame comprises a frame plate such that the plurality of shock absorbers and the plurality of additional shock absorbers are disposed between and in contact with each of the impact plate and the frame plate and such that the plurality of supporting bolts are bolted into the frame plate.

In some examples, the impact plate comprises dirt removal passages circumferentially distributed about the primary axis. In more specific examples, the dirt removal passages comprise multiple sets of dirt removal passages having different radial offsets from the primary axis.

In some examples, the impact plate comprises a main plate and one or more rings, all welded together. In the same or other examples, the impact plate comprises a plurality of casing-edge receiving protrusions, each having a circular shape concentric about the primary axis and having a different diameter than any other one of the plurality of casing-edge receiving protrusions. For example, each of the plurality of casing-edge receiving protrusions comprises two side walls, each angled between 3° and 10° relative to the primary axis. In some examples, the angle of one of the two side walls is different from the angle of another one of the two side walls. In the same or other examples, the two side walls extend to a bottom wall. The bottom wall has a width less than the wall thickness of an open-ended casing protruding into a corresponding one of the plurality of casing-edge receiving protrusions.

In some examples, the multi-tool boring system further comprises a hydraulic system attached to the jacking frame and configured to move the jacking frame relative to the track assembly. The hydraulic system comprises a set of primary hydraulic cylinders and a set of secondary hydraulic cylinders, independently actuatable from the set of primary hydraulic cylinders. In some examples, the cylinders' positions in the set of primary hydraulic cylinders are symmetrical with respect to the primary axis. The cylinders' positions in the set of second hydraulic cylinders are symmetrical with respect to the primary axis.

In some examples, the hydraulic system comprises a set of hydraulic hoses and a set of hydraulic connectors, coupled to the set of hydraulic hoses. Each cylindrical interface formed by the set of hydraulic connectors and the set of hydraulic hoses is aligned substantially parallel to the primary axis. In some examples, the hydraulic system comprises a set of hydraulic dampers, each comprising a gas enclosed fluidically coupled to at least the set of primary hydraulic cylinders. In some examples, the hydraulic system further comprises a pressure-relief valve fluidically coupled to a hydraulic drive when the hydraulic drive is attached to the jacking frame.

In some examples, each of the two tracks comprises a set of track units, extending along the primary axis such that each adjacent pair of the set of track units is bolted together. In more specific examples, the track assembly further comprises a set of track support configured to support the two tracks relative to each other and relative to the ground. Each end of each track unit in the set of track units is supported by one in the set of track support.

In some examples, the multi-tool boring system further comprises an anchoring unit configured to form a temporary fixed position on the two tracks. The anchoring unit comprises a bridging frame forming two frame openings such that each of the two tracks extends through one of the two frame openings. The anchoring unit comprises two locking mechanisms.

These and other embodiments are described further below with reference to the figures.

In the following description, numerous specific details are outlined in order to provide a thorough understanding of the presented concepts. The presented concepts may be practiced without some or all of these specific details. In other instances, well-known process operations have not been described in detail to not unnecessarily obscure the described concepts. While some concepts will be described in conjunction with the specific embodiments, it will be understood that these embodiments are not intended to be limiting.

As noted above, a multi-tool boring system is configured to enable fast installation and replacement of various tools that provide different system configurations. Each configuration may be tailored to a specific operation, such as pipe casing installation using a combination of constant and percussive forces (shown in), soil removal using an auger (shown in), a pilot tube installation (shown in), pilot tube pull back (shown in), and various forms of non-contact boring (shown in). It is important to note that switching from one configuration to another configuration can be performed often in a matter of minutes or a few hours (vs. days for conventional systems). Furthermore, many components of a multi-tool boring system remain the same in each of these configurations (while conventional systems typically require complete system replacements).

For example, multi-tool boring systemcomprises track assembly, jacking frame, impact plate assembly, and hydraulic system, all of which are present in every configuration of multi-tool boring system. Track assemblycomprises two tracksextending parallel to primary axisof multi-tool boring system. Jacking frameis slidably supported on track assembly. Impact plate assemblyis attached to jacking frame. In some examples, multi-tool boring systemcomprises a system controllerfor controlling the operation of the hydraulic systemand various boring tools(e.g., pneumatic rammer, hydraulic drive).

In some examples, the system controllercomprises a processor and memory, e.g., storing various operational aspects described below. For example, the processor can be configured to actuate pneumatic rammerand/or hydraulic drive, e.g., determine the timing, speed, and other parameters of their operation. In some examples, system controlleralso comprises a communication interface, e.g., to communicate with one or more external devices, such as a remote computing system. The communication may take place via the Internet or another communication medium. The remote computing system may be configured to receive the operating parameters from the system controlleror, more specifically, the operating parameters of various components of the multi-tool boring system.

also illustrates tools that are external to multi-tool boring systembut which are used for various operations of multi-tool boring system. For example,illustrates hydraulic pump, which can be fluidically connected to and used to power the hydraulic drive.also illustrates air compressor, which can be fluidically connected to and used to power the pneumatic rammer.

Referring to, which illustrates the installation of open-ended casinginto soil, multi-tool boring systemfurther comprises pneumatic rammer, which is supported by impact plate assembly. Impact plate assemblyengages one end of open-ended casingand applies a combination of constant and percussive forces. Specifically, the constant force is applied by hydraulic system, while the percussive force is applied by pneumatic rammer. Both types of forces are applied through impact plate assembly, which engages both hydraulic systemand pneumatic rammer.

Referring to, which illustrates the soil removal, multi-tool boring systemnow comprises hydraulic drive, which replaces pneumatic rammer. Hydraulic driveis coupled to auger shaftwhich is also coupled to auger. In this configuration, auger shaftprotrudes through impact plate assembly. When open-ended casingis present in this configuration, impact plate assemblycan provide a constant force onto open-ended casingusing hydraulic system. Hydraulic driverotates augerthereby displacing soil toward the bore entrance. The position of augerwithin the bore can be controlled by hydraulic system. Specifically, hydraulic systemmoves jacking frame, which, in turn, pushes and/or pulls auger shaftand augeralong principal axis.

It should be noted that changing from the casing installation configuration into the soil removing configuration ininvolves (a) removing pneumatic rammer, (b) attaching hydraulic driveto jacking frame, (c) protruding auger shaftthrough impact plate assembly, and coupling to hydraulic drive. All these operations can be performed in under an hour. It should be also noted that track assembly, jacking frame, impact plate assembly, and hydraulic systemremain and are not only used to provide new functionality (associated with a new configuration) but are also used to maintain the reference to the boring tunnel (e.g., cross-alignment between different tools associated with different configurations).

Referring to, which illustrates the installation of pilot tube, multi-tool boring systemalso comprises hydraulic drive. In some examples, pilot tubecomprises pilot headpilot outer tubeand pilot inner tubePilot outer tubecan be connected to impact plate assembly(e.g., using pilot tube attachment plate) such that impact plate assemblycan push and pull pilot outer tube(and, as a result, pilot head) along primary axis. Pilot inner tubeprotrudes through impact plate assemblyand is coupled to hydraulic driveor, more specifically, to drive shaftof hydraulic drive. Hydraulic drivecan rotate pilot inner tubeand, as a result, pilot headwhich effectively steers pilot headwithin soil. In some examples, multi-tool boring systemalso comprises optical inspection system, which determines the axial offset of pilot headrelative to jacking frameor, more generally, relative to primary axis. Optical inspection systemcan be positioned behind hydraulic drive(attached to hydraulic driveor to jacking frame) and have a line of sight through hydraulic driveand pilot inner tubeall the way to pilot head

Referring to, which illustrates the pullback of pilot tube, multi-tool boring system. In this example, pilot tubeis fed from another side (opening) of the bore and is pulled to multi-tool boring systemusing pull shaftSpecifically, the pull shaftis connected to both pilot tubeand impact plate assembly(e.g., using shaft attachment plate). Impact plate assemblyis pulled away from the bore opening using hydraulic systemand pulls pilot tubetoward that bore opening. In this configuration, multi-tool boring systemdoes not require a pneumatic rammeror hydraulic drive, but either one of these tools can be present.

Referring to, multi-tool boring systemcan be used for non-contact boring that uses, e.g., plasma boring, jet boring, microwave boring, and other like boring techniques. In this configuration, multi-tool boring systemcomprises non-contact boring tool, which can advance within the bore together with open-ended casing(e.g., as shown in) or independently from open-ended casing(e.g., as shown in). For example, open-ended casingcan be pushed into the bore using impact plate assemblyor, more specifically, using hydraulic systemoperable on impact plate assembly. In, non-contact boring toolhas a set position within open-ended casingand is pushed together with open-ended casing. Overall, hydraulic systemis responsible for the positioning of the non-contact boring toolwithin the bore and relative to the bore face (which is an important characteristic of non-contact boring). In, the position of non-contact boring toolis controlled independently from the position of open-ended casing. The position of open-ended casingis controlled in the same manner as in, e.g., by pushing open-ended casingwith impact plate assembly. However, the position of the non-contact boring toolwithin the bore and relative to open-ended casingis controlled by positioning devicewhich is coupled to hydraulic driveby positioning shaftSpecifically, positioning deviceis configured to change the linear position of positioning device(and that of non-contact boring tool) in response to the angular position changes of positioning shaft(which are controlled by hydraulic drive).

is a schematic block diagram of multi-tool boring systemillustrating various components of the systems and connections among these components, in accordance with some examples. Conceptually, multi-tool boring systemcan be divided into multi-tool boring platformand a set of boring toolsthat are selectively attached to multi-tool boring platformto form multi-tool boring system. Depending on the selected tools (that are attached to multi-tool boring platformand form multi-tool boring system), multi-tool boring systemcan have different configurations and perform different operations as described above with reference to.

Various features of multi-tool boring platformor, more specifically, of various components forming multi-tool boring platformenable rapid and very efficient change of these boring tools(e.g., pneumatic rammer, hydraulic drive, internal plug, auger, pilot tube, pipe burster, non-contact boring tool). In some examples, the reconfiguration of multi-tool boring systemby removing some tools and/or adding other tools can be performed in less than an hour or even withinminutes or, in more specific examples, withinminutes. It should be noted that multi-tool boring platformremains part of multi-tool boring systemregardless of the system configuration/tools attached to multi-tool boring platform. This feature distinguishes multi-tool boring systemfrom conventional systems where each system has a specific fixed configuration and where the entire system is replaced when a new configuration/functionality is needed.

Referring to, in some examples, multi-tool boring systemcomprises track assemblycomprising two tracksextending parallel to primary axisof multi-tool boring systemas, e.g., is schematically shown in. For example, primary axiscan be positioned between two trackssuch that two tracksare symmetric relative to primary axis. Various symmetrical aspects of multi-tool boring systemfurther described below help with the load distribution within multi-tool boring system.

Multi-tool boring systemalso comprises jacking frameslidably supported on track assembly. In other words, jacking framecan slide on track assemblyor, more specifically, on two tracksalong primary axis. Various features of jacking framecan be symmetrical relative to primary axisas further described below. Furthermore, jacking frameis used to support various components of multi-tool boring system, such as boring toolsand/or various components of multi-tool boring platform.

Multi-tool boring systemalso comprises impact plate assemblyattached to jacking frame. Impact plate assemblycomprises impact plateand a plurality of shock absorbers, e.g., as schematically shown inas well as. Shock absorbersare positioned between impact plateand jacking framealong the outer edgeof impact plate. Shock absorbershelp to reduce the impact force transfer from impact plateto jacking framethereby preserving the longevity of jacking frameand its components.

Referring to, in some examples, impact platecomprises impact plate openingdefined by inner edgeImpact plate openingis used for protruding various components through impact plate(e.g., a shaft for rotating an auger or a pilot tube) and/or to support various components. Referring to, in some examples, inner edgeof impact plateis configured to engage and support pneumatic rammerwhen pneumatic rammeris attached to impact plateand partially protrudes into impact plate opening. For example, pneumatic rammermay include rammer support surfaceon the leading end, which is inserted into impact plate opening. Rammer support surfacemay conform to inner edgeIn some examples, pneumatic rammeris activated in a forward direction (i.e., in the direction of the X-axis) during the installation to further protrude into impact plate openingand ensure sufficient supporting contact between Rammer support surfaceand inner edge. Pneumatic rammeris effectively self-rammed into impact plate opening. During the removal of pneumatic rammer, pneumatic rammercan be turned on in a reverse direction (i.e., in the direction opposite of the X-axis), which will push pneumatic rammerout of impact plate opening. As such, this type of attachment and removal of pneumatic rammercan be performed in a short time (usually minutes). Referring to FIG.C, in some examples, inner edgeformed a cone-shaped surface symmetrical about primary axis.

Referring to, in some examples, jacking framecomprises a pair of drive supporting plates, each extending substantially perpendicular to primary axis. Hydraulic driveis configured to bolt to each of the drive supporting plateswhen hydraulic driveis attached to jacking frame. It should be noted that hydraulic driveand pneumatic rammercan be a part of the multi-tool boring systemone at a time. For example, in order to attach hydraulic driveis attached, pneumatic rammeris first removed from multi-tool boring system.

In more specific examples, each drive supporting platecomprises plate opening. Hydraulic driveprotrudes through plate openingof each drive supporting platewhen hydraulic driveis attached to jacking frameas shown in. Similarly, pneumatic rammerprotrudes through plate openingwhen pneumatic rammeris attached to impact plate. In other words, plate openingenables the installation of different types of tools.

Referring to, in some examples, hydraulic drive, which can be coupled to drive supporting plate. For example, hydraulic drivemay comprise hydraulic motorcomprising motor fluid ports, through which hydraulic fluid is pumped to rotate the shaftof the hydraulic motor. Hydraulic motormay also be equipped with a pressure relief valve. Hydraulic motormay be supported using motor plateswith motor fastenersextending between motor platesthereby supporting the motor platesrelative to each other and supporting the hydraulic motorbetween the motor plates. Shaftmay have passthrough openingfor protruding various components through hydraulic motorand/or performing optical measurements.

Referring to, impact plate assemblycomprises various features to deliver the constant and percussive forces to casing/pipe while providing at least partial isolation to other system components, e.g., jacking framefrom at least the percussive forces. As noted above, impact plate assemblycomprises a plurality of shock absorberspositioned along the outer edgeof impact plate. In some examples, impact plate assemblyfurther comprises a plurality of additional shock absorbersand a plurality of supporting bolts. Each supporting boltprotrudes through one of the additional shock absorbersand engages jacking frameor, more specifically, a threaded opening in frame plateof jacking frame. As such, supporting boltsare used for supporting impact plate assemblyrelative to jacking frameand maintain a set compression in shock absorbersand additional shock absorbers. In some examples, each additional shock absorberis positioned closer to primary axisthan any shock absorber. This radial offset enhances the percussive force isolation.

As noted above, jacking framecomprises frame plate. The plurality of shock absorbersand the plurality of additional shock absorbersare disposed between and in contact with each impact plateand frame platefor the percussive force isolation. A combination of impact plateand frame platemay be referred to as a double-plate.

Referring to, in some examples, impact platecomprises dirt removal passagescircumferentially distributed about primary axis. Dirt removal passagescomprise multiple sets of dirt removal passageshaving different radial offsets from primary axis. For example,illustrates six dirt removal passagesoffset a first distance from primary axis(and may be referred to as the first set of dirt removal passages) and another six dirt removal passagesoffset a second distance from primary axis, larger than the first distance (and may be referred to as the second set of dirt removal passages). Furthermore, in some examples, dirt removal passages in the first set may be angular offset from dirt removal passages in the second ser, e.g., as shown in. These radial and angular offsets ensure an even distribution of dirt removal passages throughout the surface of impact plate.

Referring to, in some examples, impact platecomprises main impact plateand one or more rings (first ringsecond ringthird ring, and fourth ring), all welded together with a weld. Having separate components that are welded together can be used to simplify the manufacturing of impact plate. Impact platemay also comprise supporting bracketsthat are configured to support impact plateor, more specifically, impact plate assemblyon the tracks.

Referring to, in some examples, impact platecomprises a plurality of casing-edge receiving protrusions, each having a circular shape concentric about primary axis. Different casing-edge receiving protrusionshave different diameters. In other words, each casing-edge receiving protrusionhas a different diameter than any other casing-edge receiving protrusion. This radial offset ensures that impact platecan accommodate casing/pipes having different diameters.

Referring to, in some examples, each casing-edge receiving protrusioncomprises two sidewallseach angled between 3° and 10° relative to primary axis. In some examples, the angles of these sidewallsare different. The angles and spacing of sidewallsare specifically selected to accommodate the edge of casing/pipe such that this edge is not damaged when a combination of constant and percussive forces are applied to the edge by impact plateor, more specifically, by sidewallsFor example, the angles and spacing ensure that the edge remains within the elastic deformation zone while being compressed within casing-edge receiving protrusion. Preserving the shape of this edge helps, at later stages, to weld another pipe to this edge.

In some examples, two sidewallsextend to bottom wallhaving a width less than the wall thickness of open-ended casingprotruding into a corresponding casing-edge receiving protrusion. As such, the edge of open-ended casingis not able to reach bottom walland is damaged by the contact with the bottom wall

Referring to, in some examples, multi-tool boring systemfurther comprises hydraulic systemattached to jacking frameand configured to move jacking framerelative to track assembly. Specifically, hydraulic systemcomprises a set of primary hydraulic cylindersand a set of secondary hydraulic cylinders, independently actuatable from the set of primary hydraulic cylinders. A combination of these cylinders can be used to achieve high forces, e.g., when all cylinders push in the same direction. Alternatively, deactivating some cylinders (e.g., secondary hydraulic cylinders) allows operating the remaining cylinders (e.g., primary hydraulic cylinders) at faster displacement rates.

Referring to, in some examples, the cylinders' positions of primary hydraulic cylindersare symmetrical with respect to primary axis. For example,illustrates primary axisbeing positioned between two primary hydraulic cylinders(positioned horizontally in this view). In the same or other examples, the cylinders' positions of second hydraulic cylindersare symmetrical with respect to primary axis. For example,illustrates primary axisis positioned between each pair of opposing secondary hydraulic cylinders. This symmetrical orientation of primary hydraulic cylindersand second hydraulic cylindershelps to avoid torque on jacking frameand track assemblyand to have the majority of forces directed along primary axis

Referring to, in some examples, hydraulic systemcomprises a set of hydraulic hosesand a set of hydraulic connectors, coupled to the set of hydraulic hoses. Each cylindrical interface, which is formed by the set of hydraulic connectorsand set of hydraulic hoses, is aligned substantially parallel to the primary axis. This parallel orientation of the interfaces reduces the stress, especially when multi-tool boring systemis used with pneumatic rammerthat applies percussive forces to impact plate assembly. Even though hydraulic systemis not directly attached to impact plate assemblyand some damping is provided by shock absorbers, the hydraulic connections can be sensitive to percussive forces, especially at high frequencies.

In some examples, hydraulic systemcomprises a set of hydraulic dampers, each comprising a gas enclosed fluidically coupled to at least a set of primary hydraulic cylinders. These hydraulic dampershelp to accommodate percussive forces and not create corresponding force spikes within the hydraulic system. For example, hydraulic systemor, more specifically, primary hydraulic cylindersand second hydraulic cylindersare used to apply a constant force on jacking frameand subsequently to impact plate assembly. At the same time, impact plate assemblyis attached to pneumatic rammerwhich applies percussive forces to impact plate assembly. As such, a combination of impact plate assemblyand jacking framecan cause some of these percussive forces to be transferred to hydraulic system. Since the hydraulic fluid is not compressible, hydraulic systemcan then propagate these percussive forces to other components of hydraulic system. Hydraulic dampersreduce this percussive force propagation by allowing the gas to compress and providing additional space for the hydraulic fluid. In some examples, hydraulic dampers.

Referring to, in some examples, hydraulic systemfurther comprises pressure-relief valvefluidically coupled to hydraulic drivewhen hydraulic driveis attached to jacking frame. Pressure-relief valveprevents excessive torque by hydraulic drive, which can cause a fall and/or damage multi-tool boring system. For example, hydraulic drivecan be used to rotate an auger (e.g., as shown in). When the auger hits a rock or hard soil, the auger can resist the rotation causing the increase in torque applied by the hydraulic drive. If this torque level is not limited, then hydraulic drivecan cause the rotation of multi-tool boring systemrelative to the bore (instead of rotating the auger within the bore).

Referring to, in some examples, multi-tool boring systemfurther comprises an anchoring unitconfigured to form a temporary fixed positioned on two tracks. Anchoring unitis used by hydraulic systemto push/pull jacking framerelative to track assembly. Specifically, anchoring unitcomprises primary jack anchors(for attaching primary hydraulic cylinders) and secondary jack engagement surfaces(for engaging the ends of second hydraulic cylinders). The example shown in, allows primary hydraulic cylindersto push and pull jacking frame, while second hydraulic cylindersare only able to push jacking frame.

In some examples, anchoring unitcomprises a bridging frameforming two frame openingssuch that each of two tracksextends through one of two frame openings. Furthermore, anchoring unitcomprises two locking pinsthat are configured to slide within bridging frame(along the Z-axis in the illustrated view). In an unlocked position, each locking pinis positioned above the tracks. In a locked position, each locking pinprotrudes into the tracksor, more specifically, through tracks.

Referring to, in some examples, multi-tool boring systemfurther comprises an internal plug, which is used to plug casing/pipe to prevent dirt and in particular water (e.g., when boring with a high water table) from entering the casing. Referring to, in some examples, internal plugcomprises a set of valvesandused to remove and supply water through internal plug. Internal plugalso comprises sealfor sealing the plug within the casing. Gearing mechanismallows a central stem to move back and forth, a retaining plate, and a structural frame to restrain the motion of the central moveable part. Channelallows for the water to be let out by the relief valves at the back. In some examples, internal plugcomprises a pressure gauge, which indicates if there is any water coming out. For example, if this back pressure is at a zero level, internal plugcan be removed (e.g., in order to use an auger through the pipe). In this situation, the dirt (e.g., clay) creates its own plug equivalent. Overall, internal plugcan be used for determining water conditions within the bore, e.g., (1) when no water is coming out and the pressure gauge is at a zero level, the conditions are such that internal plugcan be removed and the operation can switch to auguring or hand mining; (2) when no water is coming, but the pressure level is high; these conditions are indicative of a water wall, which complicates further boring; in these situations, a valve can be opened to let some water out; (3) excessive amounts of water are coming from internal plugcan result in a sink hole at the boring location.

Referring to, in some examples, each trackcomprises a set of track units, extending along primary axis. Each adjacent pair of track unitsis bolted together by a set of bolts (e.g., four internal bolts and one external bolt). This modular approach allows forming tracksof any length, e.g., to accommodate different pipe lengths without occupying excessive spaces in front of the boring opening. Tracksor, more specifically, track unitshave multiple protrusionsused for locking anchoring unit, e.g., protruding locking pins. Track assemblyfurther comprises a set of track supportconfigured to support two tracksrelative to each other and relative to the ground. Each end of each track unit in a set of track unitsis supported by one in a set of track support. Furthermore, track assemblycan comprise casing-support unit, comprising first subunit(e.g., attached to track units) and second subunit(e.g., attached to or a part of track support). In some examples, track assemblyalso comprises back plate.