Tether support system including bladder

Abstract

A tether support system for a tether includes a pressurized fluid source, a fluid line extending from the pressurized fluid source, and at least one bladder coupled to the fluid line and configured to receive pressurized fluid delivered to the at least one bladder via the fluid line. The at least one bladder extends between the tether and a sidewall of a tunnel and at least partly defines a passageway for the tether to reduce contact and friction force between the tether and the sidewall of the tunnel.

Description

TETHER SUPPORT SYSTEM INCLUDING BLADDERBACKGROUND

[0001] The field of the disclosure relates to tether support systems, and more particularly to tether support systems including at least one bladder that at least partly defines a passageway for a tether to reduce contact and friction force on the tether.

[0002] Robotic maintenance apparatus may be used to access difficult to reach locations, form tunnels, perform inspections, and / or perform a repair operation on a structure. For example, some maintenance apparatus include tunneling devices that are used to travel through underground locations and may displace material to form and shape tunnels through the underground locations. At least some maintenance apparatus include a drive system to propel the apparatus. In some cases, the maintenance apparatus may travel a relatively large distance from a base station, while navigating through complex layouts. For example, tunnels may extend over relatively large distances and have various obstacles, including bends, branches, comers, etc. The base station, located remotely from the tunnel, typically includes a controller, a power source, and a reservoir of material for the maintenance apparatus.

[0003] In at least some known systems, the maintenance apparatus is operably connected to a supply tether extending from the base station along the route to the maintenance apparatus. The supply tether delivers power, communication, and / or material from the base station to the maintenance apparatus as the maintenance apparatus travels along the route. The maintenance apparatus tows the supply tether as the maintenance apparatus traverses along a route to a site. Long supply tethers, used for longer route distances, may significantly increase the weight of the tether towed by the maintenance apparatus. In some cases, the weight of the tether may slow or restrict movement of the maintenance apparatus. Moreover, the supply tether may become caught or impinged on obstacles along the route, arresting the movement of the maintenance apparatus. In addition, the tether may become twisted or kinked, impeding the flow of material through the supply tether and in some cases, causing leaks or cracks in the tether.

[0004] Accordingly, it is desirable to provide a tether support system configured to support a length of a supply tether and facilitate travel of the supply tether along a route.BRIEF DESCRIPTION

[0005] In one aspect, a system for use in maintaining a tunnel having a sidewall defining an interior cavity is provided. The system includes a tunneling device configured to travel through the tunnel, and a tether. The tether includes a first tether end, a second tether end, and a tether body extending between the first tether end and the second tether end. The tunneling device is operably coupled to the first tether end. The system also includes a tether support system coupled to the tether between the first tether end and the second tether end. The tether support system includes at least one bladder configured to receive pressurized fluid delivered to the at least one bladder via a fluid line. The at least one bladder extends between the tether and the sidewall of the tunnel and at least partly defines a passageway for the tether to reduce contact and friction force between the tether and the sidewall of the tunnel.

[0006] In another aspect, a tether support system for a tether coupled to a tunneling device configured to travel through a tunnel is provided. The tunnel has a sidewall defining an interior cavity. The tether support system includes a pressurized fluid source, a fluid line extending from the pressurized fluid source, and at least one bladder coupled to the fluid line and configured to receive pressurized fluid delivered to the at least one bladder via the fluid hne. The at least one bladder extends between the tether and the sidewall of the tunnel and at least partly defines a passageway for the tether to reduce contact and friction force between the tether and the sidewall of the tunnel.

[0007] In yet another aspect, a method for maintaining a tunnel having a sidewall defining an interior cavity is provided. The method includes moving a tunneling device through an underground location. A tether is operatively coupled to the tunneling device. The method also includes moving, using a tether support system, the tether through the underground location. The tether support system includes at least one bladder configured to receive pressurized fluid delivered to the at least one bladder via a fluid line. The at least one bladder extends between the tether and the sidewall of the tunnel and at least partly defines a passageway for the tether to reduce contact and friction force between the tether and the sidewall of the tunnel.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed descnption is read w ith reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

[0009] FIG. 1 is a schematic diagram of a system including a tunneling device traveling underground and one embodiment of a tether support system;

[0010] FIG. 2 is a schematic diagram of another embodiment of a tether support system for use with the system shown in FIG. 1, the tether support system including a plurality of sections coupled end to end;

[0011] FIG. 3 is a schematic diagram of another embodiment of a tether support system for use with the system shown in FIG. 1, the tether support system including a plurality of bladders arranged circumferentially around a passageway;

[0012] FIG. 4 is a schematic diagram of another embodiment of a tether support system for use with the system shown in FIG. 1. the tether support system including a material defining a bladder and a supply station configured to continuously supply and weld the material to form the bladder; and

[0013] FIG. 5 is a schematic diagram of another embodiment of a tether support system for use with the system shown in FIG. 1, the tether support system including a material defining a bladder and a supply station configured to supply the material in a preformed state.

[0014] Unless otherwise indicated, the drawings provided herein are meant to illustrate features of embodiments of this disclosure. These features are believed to be applicable in a wide variety of systems including one or more embodiments of this disclosure. As such, the drawings are not meant to include all conventional features known by those of ordinary' skill in the art to be required for the practice of the embodiments disclosed herein.DETAILED DESCRIPTION

[0015] In the following specification and the claims, reference will be made to a number of terms, which shall be defined to have the following meanings.

[0016] The singular forms “a”, “an’; and “the” include plural references unless the context clearly dictates otherwise.

[0017] “Optional” or “optionally” means that the subsequently described event or circumstance may or may not occur, and that the description includes instances where the event occurs and instances where it does not.

[0018] Approximating language, as used herein throughout the specification and claims, may be applied to modify any quantitative representation that could permissibly vary without resulting in a change in the basic function to which it is related. Accordingly, a value modified by a term or terms, such as “about”, “approximately”, and “substantially”, are not to be limited to the precise value specified. In at least some instances, the approximating language may correspond to the precision of an instrument for measuring the value. Here and throughout the specification and claims, range limitations may be combined and / or interchanged, such ranges are identified and include all the sub-ranges contained therein unless context or language indicates otherwise.

[0019] As used herein, the terms “processor” and “computer,” and related terms, e.g., “processing device,” “computing device,” and “controller” are not limited to just those integrated circuits referred to in the art as a computer, but broadly refers to a microcontroller, a microcomputer, an analog computer, a programmable logic controller (PLC), and application specific integrated circuit (ASIC), and other programmable circuits, and these terms are used interchangeably herein. In the embodiments described herein, “memory” may include, but is not limited to, a computer-readable medium, such as a random access memory' (RAM), a computer-readable non-volatile medium, such as a flash memory'. Alternatively, a floppy disk, a compact disc - read only memory' (CD-ROM), a magnetooptical disk (MOD), and / or a digital versatile disc (DVD) may also be used. Also, in the embodiments described herein, additional input channels may be, but are not limited to, computer peripherals associated with an operator interface such as a touchscreen, a mouse, and a keyboard. Alternatively, other computer peripherals may also be used that may include, for example, but not be limited to, a scanner. Furthermore, in the example, additional output channels may include, but not be limited to. an operator interface monitor or heads-up display. Some embodiments involve the use of one or more electronic or computing devices. Such devices typically include a processor, processing device, or controller, such as a general purpose central processing unit (CPU), a graphics processingunit (GPU), a microcontroller, a reduced instruction set computer (RISC) processor, an ASIC, a PLC, a field programmable gate array (FPGA), a digital signal processing (DSP) device, and / or any other circuit or processing device capable of executing the functions described herein. The methods described herein may be encoded as executable instructions embodied in a computer readable medium, including, without limitation, a storage device and / or a memoiy device. Such instructions, when executed by a processing device, cause the processing device to perform at least a portion of the methods described herein. The above examples are exemplary only, and thus are not intended to limit in any way the definition and / or meaning of the term processor and processing device.

[0020] Embodiments described herein relate to a tether support system. The tether support system includes at least one bladder that extends at least partly around a tether and defines a passageway for the tether. For example, the tether support system may include one or more ring shaped bladders that extend around the tether, and / or a plurality of bladders extending circumferentially around the tether. Additionally or alternatively, the tether support system may include sections that are coupled end to end, and each section may include one or more bladders. In another example, the tether support system includes a material extending along a sidewall of a tunnel and along and around a tether to form a bladder. A supply station may be configured to continuously supply the material for the bladder to expand as the tether is pulled underground or the bladder may be preformed as the material is delivered by the supply station. The tether support system reduces contact and friction force between a tether and a sidewall of a tunnel. In addition, the tether support system increases the length of a tether that may be used and reduces costs of tunneling operations.

[0021] FIG. l is a schematic diagram of a system 100 including a tunneling device, broadly a maintenance apparatus 102, traveling underground and a tether support system 104. For example, tunneling device 102 is configured to travel through a tunnel 103 and / or displace material to form tunnel 103. Tunnel 103 includes a sidewall 106 having an interior surface 108 extending around a central axis 110 and defining an interior cavity 112. Tunneling device 102 is configured to fit within interior cavity 112 and travel along the length of tunnel 103. Accordingly, tunneling device 102 facilitates construction of tunnel 103 and / or inspection and repair of tunnel 103. Moreover, tunneling device 102 is self-propelled,meaning that tunneling device 102 moves within interior cavity- 112 without an external force acting on tunneling device 102.

[0022] During operation, for example, tunneling device 102 may be positioned at a surface 114 proximate an underground location, and tunneling device 102 travels through surface 114 to form an opening into tunnel 103. In the illustrated embodiment, tunneling device 102 travels in a travel direction 115. In some embodiments, tunneling device 102 traverses transitions in tunnel 103 such as bends or size transitions. As tunneling device 102 travels through underground locations, tunneling device 102 is configured to form tunnel 103 and / or inspect and / or repair any portions of tunnel 103.

[0023] Tunneling device 102 is any device capable of traveling underground. In the example, tunneling device 102 includes a body assembly 134 including a plurality of sections 144 that extend along a longitudinal axis. Sections 144 of body assembly 134 are configured to move body assembly 134 through underground locations. For example, sections 144 of body assembly 134 are designed to provide an axial force and a radial force that propel body assembly 134 and tether 132 through underground locations. In the example embodiment, body assembly 134 and tether 132 do not require a separate linear actuator for propulsion. In some embodiments, body assembly 134 includes at least three sections 144 (e.g., a first section, a second section, and a third section) that are configured to cooperate and provide a crawling action to propel body assembly 134 through tunnel 103. In alternative embodiments, tunneling device 102 includes any body assembly 134 that enables tunneling device 102 to operate as described herein.

[0024] System 100 includes tunneling device 102, tether support system 104, a controller 1 16 communicatively coupled to tunneling device 102, and at least one supply system 118. In some embodiments, supply system 118 includes a pressurized fluid source, a power source, and / or a reservoir of material for tunneling device 102. Supplysystem 118 is coupled to tunneling device 102 via a tether 132.

[0025] Tether support system 104 is configured to define a passageway for tether 132 and reduce contact and friction force between tether 132 and sidewall 106 of tunnel 103. For example, tether support system 104 includes a pressurized fluid source 120, a fluid line 122, and at least one bladder 136. In the example embodiment, tether supportsystem 104 includes a plurality of bladders 136. Fluid line 122 extends between pressurized fluid source 120 and bladders 136. Each bladder 136 is coupled to fluid line 122 and configured to receive pressurized fluid delivered to bladder 136 via fluid line 122.

[0026] Bladders 136 extend between tether 132 and sidewall 106 of tunnel 103 and define the passageway for tether 132. For example, bladders 136 may be arranged circumferentially around the passageway such that tether 132 extends between bladders 136. In addition or alternatively, at least some bladders 136 extend at least partly around and along tether 132 in the passageway, and the passageway extends longitudinally through at least some of bladders 136 from end to end. In alternative embodiments, bladder(s) 136 are arranged in any manner that enables tether support system 104 to operate as described herein.

[0027] For example, tether support system 104 includes a first apparatus 138 and a second apparatus 140 in the embodiment shown in FIG. 1. First apparatus 138 and second apparatus 140 are arranged along the length of tether 132 and spaced apart longitudinally. First apparatus 138 and second apparatus 140 each include a plurality of sections 142 configured to move tether support system 104 and tether 132 through an underground location. For example, sections 142 include bladders 136 coupled end to end, and the passageway for tether 132 extends though the ends of sections 142. In other examples, tether support system 104 includes more or less than tw o apparatus 138, 140.

[0028] In the example embodiment, each bladder 136 is configured to transition or switch the respective section 142 of tether support system 104 from a first configuration to a second configuration when pressurized fluid is delivered to bladder 136 via fluid line 122, and transition the respective section 142 from the second configuration to the first configuration when the pressurized fluid is removed from bladder 136. In an example, bladders 136 are configured to selectively adjust their size and move tether support system 102 when a pressurized fluid is delivered to or removed from bladders 136 through fluid line 122. For example, bladder 136 may include an elastomeric material that is configured to expand / collapse when pressurized fluid is delivered / removed from bladder 136. In addition, in the example embodiment, reinforcement muscles (e.g., fibers) extend around bladder 136 and are connected to radial and axial actuators. In the example embodiment, the muscles are reinforced with a fiber mesh pattern that constrains the direction and amount of expansion of bladder 136 based on a fiber reinforcement angledetermined by the design of the muscle. For example, the fiber reinforcement may form a first arrangement (e.g., a tight mesh grid around the circumference of bladder) that allows bladder 136 to expand in an axial direction but not in a radial direction when bladder 136 is pressurized. Conversely, the fiber reinforcement may form a second arrangement (e.g., a looser mesh grid around the circumference of bladder 136 allowing radial expansion or stretching of the mesh) that allows bladder 136 to expand in the radial direction but not the axial direction when bladder 136 is pressurized. In addition, the fiber reinforcement angle is designed to arrest the deformation of bladder 136 at a pre-defined setpoint in the radial and / or axial direction when bladder 136 is pressurized. In the example, the fiber reinforcement angle of the muscles is between 10 degrees and 50 degrees with respect to the circumferential axis of the bladder. In alternative embodiments, tether support system 104 includes any bladder 136 that enables tether support system 104 to operate as described herein. For example, in some embodiments, bladder 136 includes a material extending from tunneling device 102, along sidewall 106 of tunnel 103. and along and around tether 132.

[0029] In addition, in the example embodiment, pressurized fluid source 120 is coupled to one or more components of tunneling device 102 via fluid line 122. For example, pressurized fluid source 120 is coupled to bladder 136 of tether support system 104 via fluid line 122 and / or to body assembly 134 via fluid line 122. Bladder 136 is configured to transition section 142 from the first configuration to the second configuration when pressurized fluid is delivered to bladder 136 via fluid line 122, and to transition section 142 from the second configuration to the first configuration when the pressurized fluid is removed from bladder 136 via fluid line 122. In alternative embodiments, system 100 includes any pressurized fluid source 120 that enables system 100 to operate as described herein. For example, in some embodiments, pressurized fluid source 120 includes separate fluid tanks and / or pumps that are coupled to and configured to regulate pressurized fluid in bladder 136 and / or sections 142. In addition, in some embodiments, system 100 includes a plurality of fluid lines 122 coupled to section 142 and / or bladders 136.

[0030] In addition, in the example embodiment, controller 116 is configured to provide instructions to move tunneling device 102 through tunnel 103 and / or to perform inspection or repair operations. Controller 116 includes a transceiver 124, a processor 126, and a memory' 128. In some embodiments, controller 116 is positionedremotely from tunneling device 102, e.g., controller 116 is located at a base station that enables an operator on an exterior of tunnel 103 (shown in FIG. 1) to interact with tunneling device 102, and / or controller 116 can be at least partly incorporated into and located on board tunneling device 102. Transceiver 124 is communicatively coupled with tunneling device 102, and is configured to send information to and receive information from a transceiver of tunneling device 102. In some embodiments, transceiver 124 and a transceiver on tunneling device 102 communicate wirelessly. In alternative embodiments, tunneling device 102 and controller 116 communicate in any manner that enables system 100 to operate as described herein. For example, in some embodiments, controller 116 and tunneling device 102 exchange information through a wired link extending between tunneling device 102 and controller 116 through tether 132.

[0031] In addition, in some embodiments, controller 116 is at least partly located on board tunneling device 102 and is configured to execute instructions for controlling components of tunneling device 102, such as a maintenance device and drive systems. For example, controller 116 executes instructions that cause tunneling device 102 to move in a selected direction. In alternative embodiments, tunneling device 102 includes any controller that enables system 100 to operate as described herein. In some embodiments, controller 116 is not located on board tunneling device 102.

[0032] In some embodiments, tunneling device 102 includes one or more sensors and / or repair tools or pipe maintenance tools. For example, in some embodiments, tunneling device 102 includes a repair tool configured to repair interior surface 108, or an inspection tool configured to inspect a portion of the interior cavity 112.

[0033] Also, in the example embodiment, an operator interface 130 is configured to display information relating to the characteristics detected by tunneling device 102 for interpretation by the operator. Operator interface 130 may be included on a remote computing device (not shown) and / or may be incorporated with controller 116. Operator interface 130 may include, among other possibilities, a web browser and / or a client application. For example, in some embodiments, operator interface 130 displays images of interior surface 108 based on received signals. In some embodiments, operator interface 130 allows an operator to input and / or view information relating to control of tunneling device 102. In the example, operator interface 130 is configured to display information relating tothe state of one or more of a maintenance device and a power source for interpretation by the operator. For example, state information may include a position of tunneling device 102 along a length of tunnel 103 (shown in FIG. 1). State information may also include a charge status of a power source and / or a current draw for the various drive and positioning motors. In various embodiments, processor 126 translates operator inputs into steering, tool motion, camera control, sensor control, sensor motion, and / or any other commands and sends information via transceiver 124 to tunneling device 102 via a transceiver of tunneling device 102. In some embodiments, operator control of tunneling device 102 is in real time, such as through a joystick, a keyboard, a touchscreen, a remote motion capture system, and / or a wearable motion capture system or other interface having similar function. In other embodiments, tunneling device 102 is controlled partially or wholly according to a preprogrammed routine. In further embodiments, tunneling device 102 is at least partially automated. In some embodiments, an operator inputs information such as operation goals or conditional directions. In further embodiments, information, such as information received by controller 116 from tunneling device 102, control data sent to tunneling device 102, and additional operator inputs or state information (e.g., location, time, orientation, datalink quality, battery levels, repair material levels, failure mode indicators), is logged into memory 128.

[0034] Moreover, in the example embodiment, controller 116 is positioned on the exterior of tunnel 103 and communicates with tunneling device 102 positioned within interior cavity 112 of tunnel 103. For example, controller 116 is configured to send information to tunneling device 102 relating to the propulsion and / or steering of tunneling device 102 while tunneling device 102 is moving within interior cavity 112 of tunnel 103 through a wireless connection and / or tether 132. In alternative embodiments, controller 116 and tunneling device 102 are configured in any manner that enables system 100 to operate as described herein.

[0035] FIG. 2 is a schematic diagram of a tether support system 200 for use with system 100 shown in FIG. 1. Tether support system 200 includes a plurality of sections 202 coupled end to end. Each section 202 includes a bladder 204 that defines a passageway 206. Passageway 206 extends longitudinally through sections 202 and through ends of sections 202. Accordingly, passageway 206 is formed as a tunnel through bladders 204 andsections 202. In other examples, tether support system 200 forms any passageway 206 that enables tether support system 200 to operate as described herein.

[0036] Bladders 204 extend along and around tether 132 in passageway 206 to support tether 132 and reduce friction forces on tether 132. For example, bladders 204 are ring-shaped cylinders with a hollow center. In other examples, bladders 204 are any shape that enables tether support system 200 that enables tether support system 200 to operate as described herein.

[0037] In the example embodiment, bladders 204 are constructed of an elastic, flexible material that has a lower coefficient of friction than tether 132. Accordingly, bladders 204 are able to change shape to support tether 132 and reduce friction forces on tether 132. In other examples, bladder 204 is constructed of any material that enables tether support system 200 to operate as described herein.

[0038] FIG. 3 is a schematic diagram of a tether support system 300 for use with system 100 shown in FIG. 1. Tether support system 300 includes a plurality of sections 302 coupled end to end. Each section 302 includes a plurality of bladders 304 arranged circumferentially around a passageway 306. Accordingly, tether 132 is supported within the passageway defined between bladders 304, and bladders 304 extend between tether 132 and a sidewall.

[0039] Tether support system 300 includes a frame 308 supporting bladders 304. Frame 308 is rigid and maintains a position of bladders 304 relative to passageway 306. Frame 308 is constructed of bars and couplings forming frame 308 and connecting sections 302 together. In the example, frame 308 is an open structure, and tether 132 is visible in passageway 306 from an exterior of tether support system 300. In alternative examples, tether support system 300 includes any frame 308 that enables tether support system 300 to operate as described herein.

[0040] FIG. 4 is a schematic diagram of a tether support system 400 for use with system 100 shown in FIG. 1. Tether support system 400 includes a material 402 defining a bladder 404 and a supply station 406. Supply station 406 is configured to continuously supply and weld material 402 to form bladder 404. For example, supply station406 includes at least one spool 408 of material and a welder 410. Material 402 is dispensed from spool 408 and welded at seams by welder 410 to form a continuous bladder 404. Material 402 can be continuously supplied in a virtually endless chain because spools 408 can be swapped out and welder 410 will weld the new material. For example, supply station 406 is configured to continuously supply material 402 for bladder 404 to expand as the tunneling device travels underground.

[0041] Material 402 may include a flexible elastic material. For example, material 402 may be a plastic sheet. In other examples, tether support system 400 includes any material that enables tether support system 400 to operate as described herein.

[0042] Material 402 extends from the tunneling device, along the sidewall of the tunnel, and along and around tether 132. Accordingly, material 402 forms bladder 404 between tether 132 and the sidewall and reduces friction on tether 132. A seal 412 is located at the interface of tether 132 and bladder 404. Bladder 404 may be selectively pressurized to regulate the formation of bladder 404 and facilitate movement of tether 132.

[0043] In some examples, pressurized fluid drives material 402 along the sidewalls when tether 132 is pulled along behind a maintenance apparatus. In other examples, a drive system such as a pulley is arranged to direct material 402 along with tether 132. The drive system may be positioned on the exterior of tether support system 400. In other examples, material 402 is propelled along sidewalls in any manner that enables tether support system 400 to operate as described herein.

[0044] FIG. 5 is a schematic diagram of a tether support system 500 for use with system 100 shown in FIG. 1. Tether support system 500 includes a material 502 defining a bladder 504 and a supply station 506 configured to supply the material in a preformed state. Supply station 506 simplifies operation of tether support system 500 because bladder 504 is preformed and does not require welding. For example, supply station 506 includes a tube containing and configured to dispense material 502 in the preformed state.

[0045] For example, material 502 is supplied as a preformed bladder 504 that is configured to receive pressurized fluid and defines a passageway for tether 132. Tether support system 500 includes a plurality of seals 508 at interfaces between bladder 504 and tether 132.

[0046] In reference to FIGS. 1 -5, an example method includes moving tunneling device 102 through an underground location, with tether 132 operatively coupled to tunneling device 102. In addition, the method includes moving, using tether support system 104, tether 132 through the underground location. At least one bladder 136 extends between tether 132 and sidewall 106 of tunnel 103 and at least partly defines a passageway for tether 132 to reduce contact and friction force between tether 132 and sidewall 106 of tunnel 103. For example, bladder 136 may include a plurality of bladders 136 coupled end to end or arranged circumferentially around the passageway. In further examples, moving tether 132 through the underground location includes moving tether 132 between a plurality of bladders 136 arranged circumferentially around the passageway. Also, in some examples, bladder 136 is formed by a material that is continuously supplied for bladder 136 to expand as tunneling device 102 travels underground. The material extends from tunneling device 102, along sidewall 106 of tunnel 103 and along and around tether 132.

[0047] Also, the method may include transitioning tether support system 104 from a first configuration to a second configuration when pressurized fluid is delivered to bladder 136 via a fluid line, and transitioning tether support system 104 from the second configuration to the first configuration when the pressurized fluid is removed from bladder 136.

[0048] An example technical effect of the methods, systems, and apparatus described herein includes at least one of: (a) reducing the time to construct tunnels through underground locations; (b) enabling tunneling operations and / or inspection and repair of an interior cavity7of a tunnel at greater distances from an access opening; (c) increasing the length of tethers; (d) facilitating new tunnel designs including curves, bends, and turns; and (e) reducing the cost of tunneling operations.

[0001] Examples of systems and methods for use in tunneling operations are described above in detail. The methods and systems are not limited to the specific embodiments described herein, but rather, components of systems and / or steps of the methods may be utilized independently and separately from other components and / or steps described herein. For example, the method may also be used in combination with other components, and are not limited to practice only with tunnels as described herein. Rather, the example can be implemented and utilized in connection with many other applications.

[0002] Although specific features of various embodiments of the disclosure may be shown in some drawings and not in others, this is for convenience only. In accordance with the principles of the disclosure, any feature of a drawing may be referenced and / or claimed in combination with any feature of any other drawing.

[0003] This written description uses examples to disclose the embodiments, including the best mode, and also to enable any person skilled in the art to practice the embodiments, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the disclosure is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they7include equivalent structural elements with insubstantial differences from the literal language of the claims.

Claims

WHAT IS CLAIMED IS:

1. A system for use in maintaining a tunnel having a sidewall defining an interior cavity, said system comprising: a tunneling device configured to travel through the tunnel; a tether comprising a first tether end, a second tether end. and a tether body extending between said first tether end and said second tether end. said tunneling device operably coupled to said first tether end; and a tether support system coupled to said tether between said first tether end and said second tether end. said tether support system comprising at least one bladder configured to receive pressurized fluid delivered to said at least one bladder via a fluid line, wherein said at least one bladder extends between said tether and the sidewall of the tunnel and at least partly defines a passageway for said tether to reduce contact and friction force between said tether and the sidewall of the tunnel.

2. The system in accordance with Claim 1, further comprising a pressurized fluid source and a fluid line coupled between said bladder and said pressurized fluid source, wherein said bladder is configured to transition said tether support system from a first configuration to a second configuration when pressurized fluid is delivered to said bladder via said fluid line, and transition said tether support system from the second configuration to the first configuration when the pressurized fluid is removed from said bladder.

3. The system in accordance with Claim 1, wherein said tether support system further comprises: a first section; and a second section coupled to said first section, wherein said first section and said second section are configured to move said tether support system and said tether through an underground location.

4. The system in accordance with Claim 3, wherein said first section and said second section of said tether support system are coupled to a fluid line, and wherein said first section and said second section are configured to selectively adjust their size and move said tether support system when a pressurized fluid is delivered to or removed from said first section and said second section through said fluid line.

5. The system in accordance with Claim 4, wherein said first section of said tether support system is configured to switch from a first configuration having a first length and a first width to a second configuration having a second length and a second width, and wherein said second section of said tether support system is configured to switch from a third configuration having a third length and a third width to a fourth configuration having a fourth length and a fourth width.

6. The system in accordance with Claim 3, wherein said first section and said second section are coupled end to end, and wherein said passageway extends though the ends of said first section and said second section.

7. The system in accordance with Claim 1, wherein said at least one bladder comprises a plurality of bladders arranged circumferentially around said passageway such that said tether extends between said plurality of bladders.

8. The system in accordance with Claim 1, wherein said bladder comprises a material extending from said tunneling device, along the sidewall of the tunnel and along and around said tether.

9. The system in accordance with Claim 8. further compnsing a supply station configured to continuously supply said material for said bladder to expand as said tunneling device travels underground.

10. The system in accordance with Claim 8, further comprising a plurality of seals at interfaces between said bladder and said tether.

11. A tether support system for a tether coupled to a tunneling device configured to travel through a tunnel, the tunnel having a sidewall defining an interior cavity’, said tether support system comprising:a pressurized fluid source; a fluid line extending from said pressurized fluid source; and at least one bladder coupled to said fluid line and configured to receive pressurized fluid delivered to said at least one bladder via said fluid line, wherein said at least one bladder extends between the tether and the sidewall of the tunnel and at least partly defines a passageway for the tether to reduce contact and friction force between the tether and the sidewall of the tunnel.

12. The tether support system in accordance with Claim 11, wherein said bladder is configured to transition said tether support system from a first configuration to a second configuration when pressurized fluid is delivered to said bladder via said fluid line, and transition said tether support system from the second configuration to the first configuration when the pressurized fluid is removed from said bladder.

13. The tether support system in accordance with Claim 11, wherein said at least one bladder comprises a first bladder and a second bladder, and wherein said tether support system comprises: a first section; and a second section coupled to said first section, wherein said first section and said second section are configured to move said tether support system and said tether through an underground location, wherein said first section and said second section are coupled end to end, and wherein said passageway extends though the ends of said first section and said second section.

14. The tether support system in accordance with Claim 11, wherein said at least one bladder comprises a plurality of bladders arranged circumferentially around the passageway such that the tether extends between said plurality of bladders.

15. The tether support system in accordance with Claim 11, wherein said bladder comprises a material extending from the tunneling device, along the sidewall of the tunnel and along and around the tether.

16. A method for maintaining a tunnel having a sidewall defining an interior cavity, said method comprising: moving a tunneling device through an underground location, wherein a tether is operatively coupled to the tunneling device; and moving, using a tether support system, the tether through the underground location, wherein the tether support system includes at least one bladder configured to receive pressurized fluid delivered to the at least one bladder via a fluid line, wherein the at least one bladder extends between the tether and the sidewall of the tunnel and at least partly defines a passageway for the tether to reduce contact and friction force between the tether and the sidewall of the tunnel.

17. The method in accordance with Claim 16, further comprising transitioning the tether support system from a first configuration to a second configuration when pressurized fluid is delivered to said bladder via said fluid line, and transitioning the tether support system from the second configuration to the first configuration when the pressurized fluid is removed from said bladder.

18. The method in accordance with Claim 16, further comprising supporting the tether in the passageway defined by the at least one bladder, wherein the at least one bladder comprises a plurality of bladders coupled end to end or arranged circumferentially around the passageway.

19. The method in accordance with Claim 16, wherein moving, using the tether support system, the tether through the underground location comprises moving the tether between a plurality of bladders arranged circumferentially around the passageway.

20. The method in accordance with Claim 16, further comprising continuously supplying a material for the bladder to expand as the tunneling device travels underground, wherein the bladder includes the material extending from the tunneling device, along the sidewall of the tunnel and along and around the tether.

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