Geophysical exploration apparatus based on driving platform

Abstract

An objective of the present invention for solving the conventional problems described above is to provide a geophysical exploration apparatus which is mounted on a geophysical and drilling exploration robot to perform geophysical exploration unmanned and / or remotely. In order to achieve the above objective, the geophysical exploration apparatus according to the present invention comprises: an electric exploration unit which measures the electrical resistivity of a seabed stratum by injecting a current into the stratum through a plurality of electrodes spaced apart from each other in a cable installed on the seabed; an electromagnetic exploration unit for analyzing electromagnetic characteristics of the seabed stratum through an electromagnetic transmission unit installed in the robot to generate an electromagnetic field and an electromagnetic reception unit installed in the cable to receive the generated electromagnetic field; and an elastic wave exploration unit whereby the structure of the seabed stratum is analyzed when an elastic wave reception unit disposed in the cable receives an elastic wave generated when the robot performs drilling work or an elastic wave generated by a separate elastic wave transmission unit.

Description

Geophysical exploration device based on a driving platform

[0001] The present invention relates to a geophysical exploration device, and more particularly, to a geophysical exploration device that is mounted on a robot capable of performing geophysical and / or drilling exploration work remotely and / or unmanned based on a driving platform on the seabed where human access is impossible, and that can perform geophysical exploration work.

[0002]

[0003] To respond to the global climate change crisis, countries around the world are declaring carbon neutrality and spurring the development of future eco-friendly industries. Intertwined with these international environmental issues, accelerated decarbonization and digitalization are revitalizing cutting-edge industries such as secondary batteries, eco-friendly fuel-based propulsion systems, and robotics.

[0004] Due to the activation of these future cutting-edge industries, the demand for non-ferrous metals (copper, nickel, cobalt, manganese, lithium, rare earth elements, etc.) is expected to increase explosively. However, the production and supply of these non-ferrous metals are concentrated in a few countries, resulting in high uncertainty in supply and demand. In the case of Korea, the supply of non-ferrous metals is currently 100% dependent on imports.

[0005] Among the non-ferrous metal supply measures to overcome this, the deep-sea mineral resources under the jurisdiction of the International Seabed Authority (ISA) under the United Nations contain a significant portion of non-ferrous metals essential for future advanced industries, so it is necessary to secure stable essential non-ferrous metal resources through mining / extraction in the future.

[0006] For commercial mining / extraction of these essential non-ferrous metal resources, geophysical exploration is important to determine the detailed reserves (size and grade) of the secured deep-sea mineral resources, and through this, it is necessary to prioritize the selection of deposit areas with high economic feasibility.

[0007] Geophysical exploration includes electrical exploration, electromagnetic exploration, and seismic exploration.

[0008] In general, sonic exploration mainly refers to the exploration of the seabed or shallow geological layers using high-frequency sound sources (over kHz), and seismic exploration mainly refers to the exploration of deep geological layers using low-frequency sound sources (1-100 Hz). In geophysical exploration, seismic exploration using low frequencies is utilized.

[0009] In electrical exploration, the system consists of a transmitter that transmits current to a positive / negative electrode and a receiver that measures the voltage generated at the other positive / negative electrode due to the applied current. The arrangement of these transmitting and receiving electrodes determines the resolution and depth of seafloor resistivity measurements.

[0010] In electromagnetic exploration, a transmitter and receiver are installed on the main body and cable. The transmitter generates an electromagnetic field, which is then induced in anomalies beneath the seafloor, resulting in an electromagnetic field that is then measured by the receiver. This bistatic method, where the transmitter and receiver are spaced apart, allows for excellent resolution and deep-sea measurements.

[0011] In the case of seismic exploration, hydrophone-type acoustic receivers can be attached to various locations on the cable to measure elastic waves generated from a seismic transmitter located on the main body or outside, reflected and refracted through the strata below the seabed, and transmitted.

[0012] For this type of geophysical exploration, the transmitters and receivers of each exploration device must be placed at an appropriate distance apart. However, since it is impossible for humans to perform various tasks, including placing these transmitters and receivers, on the seabed, it is necessary to perform geophysical exploration using robots.

[0013] Since robots are used because people cannot work directly on the seabed, the exploration process should be minimized. However, since multiple exploration results must be synthesized and judged when exploring the seabed, multiple geophysical explorations must be applied, so the exploration process increases and it takes a lot of time. If the exploration takes a lot of time, it is very disadvantageous for maritime work that must deal with rapid weather changes.

[0014] The aforementioned geophysical explorations, such as electrical exploration, electromagnetic exploration, and seismic exploration, have in common that they require a gap between the transmitter and receiver for high resolution and high observation depth, but they have the disadvantage of having to repeat the same gap-reducing operation.

[0015] In addition, in order to accurately estimate reserves, core sampling drilling exploration is essential in addition to high-precision geophysical exploration, but there was a problem that the cost of renting a drilling ship was very high due to the deep water depth when exploring using existing drilling ships.

[0016] To solve this problem, a seabed drilling rig equipped with an automated, unmanned drilling rig was developed, but there is a problem in that it takes a long time for the drilling rig to settle accurately on the seabed due to the influence of ship movements according to the deep water depth and marine environment.

[0017] Accordingly, in order to reduce costs and maximize exploration efficiency, it is necessary to develop a geophysical and drilling exploration robot with improved mobility by mounting automated unmanned drilling equipment on a rough terrain driving device platform rather than a bottom-mounted one.

[0018] In addition, there is a need to develop geophysical exploration equipment that can be mounted on these geophysical and drilling exploration robots to perform geophysical exploration unmanned and / or remotely.

[0019]

[0020] The purpose of the present invention to solve the above-mentioned conventional problems is to provide a geophysical exploration device that can be mounted on a geophysical and drilling exploration robot to perform geophysical exploration unmanned and / or remotely.

[0021] In addition, the goal is to provide a geophysical exploration device that can save exploration time and maximize work efficiency by integrating and operating geophysical exploration methods such as electric exploration, electromagnetic exploration, and seismic exploration in a single system.

[0022] In addition, in order to solve the problem of electromagnetic interference occurring between geophysical exploration equipment, the present invention aims to provide a geophysical exploration device that can minimize signal interference between exploration equipment by using a mounting frame to separate the transmitter and the robot body and prevent electromagnetic interference.

[0023] In addition, the goal is to build a composite exploration system that utilizes the similarities between exploration techniques such as electrical exploration, electromagnetic exploration, and seismic exploration to provide more accurate exploration results, and to provide geophysical exploration equipment that can perform precise exploration of complex geological structures and deep-sea mineral resources on the seabed.

[0024] In addition, the goal is to provide a geophysical and drilling exploration robot that overcomes the limitations of existing bottom-mounted methods and improves mobility by mounting automated geophysical exploration equipment and drilling exploration equipment on a rough terrain unmanned driving platform capable of driving on rough terrain on the seabed.

[0025] In addition, we aim to provide a geophysical and drilling exploration robot that can perform geophysical exploration and drilling exploration in an integrated manner in a single device, thereby reducing the cost and time required for exploration.

[0026] Additionally, by using unmanned submersibles, we aim to provide geophysical and drilling exploration robots that can perform stable operations in difficult environments such as deep sea and rough terrain.

[0027] In addition, the integrated control device located at the sea surface is connected wirelessly to a geophysical and drilling exploration robot, and a geophysical and drilling exploration system is provided that can remotely control and monitor geophysical exploration and drilling exploration operations in real time.

[0028]

[0029] In order to achieve the above object, a geophysical exploration device mounted on a robot capable of performing geophysical exploration and drilling exploration work on the seabed remotely and / or unmanned according to the present invention is characterized by including: an electric exploration unit for measuring electrical resistivity of the seabed by injecting current into the seabed through a plurality of electrodes spaced apart from each other on a cable laid on the seabed; an electromagnetic exploration unit for analyzing electromagnetic characteristics of the seabed through an electromagnetic transmitter installed on the robot for generating an electromagnetic field and an electromagnetic receiver installed on the cable for receiving the generated electromagnetic field; and an elastic wave exploration unit for analyzing the structure of the seabed by receiving elastic waves generated when the robot performs drilling work or elastic waves generated by a separate elastic wave transmitter by an elastic wave receiver installed on the cable.

[0030] In addition, in the geophysical exploration device according to the present invention, the plurality of electrodes are arranged at regular intervals from each other on the cable, and are characterized in that they perform both a transmitting function for injecting current for electrical exploration into a stratum and a receiving function for receiving the current.

[0031] In addition, in the geophysical exploration device according to the present invention, a weight is attached to one end of the cable, and the electromagnetic receiver is mounted on the weight.

[0032] In addition, in the geophysical exploration device according to the present invention, the cable is characterized in that it is surrounded by a sheath that protects the inside of the cable, and a rope is provided inside the cable to form a closed loop.

[0033] In addition, in the geophysical exploration device according to the present invention, the outer shell is characterized in that it is formed of a polymer resin material that is non-conductive and has a density equal to or lower than that of water.

[0034] In addition, in the geophysical exploration device according to the present invention, the internal space of the cable is characterized in that it is filled with a liquid that is non-conductive and has a density equal to or lower than that of water.

[0035] In addition, in the geophysical exploration device according to the present invention, a mounting frame is mounted on one side of the robot, and a drum-shaped winding part for winding the cable is mounted on the lower part of the mounting frame.

[0036] In addition, in the geophysical exploration device according to the present invention, the electromagnetic transmission unit is mounted on one end of the mounting frame.

[0037] In addition, in the geophysical exploration device according to the present invention, the mounting frame is characterized in that it is formed of a non-conductive material to prevent electromagnetic interference.

[0038] In addition, in the geophysical exploration device according to the present invention, the elastic wave transmitting unit is characterized by including an elastic wave drill that generates vibrations by drilling the seabed.

[0039] In addition, in the geophysical exploration device according to the present invention, the elastic wave receiving unit is characterized in that a plurality of units are provided and are spaced apart from each other at regular intervals on the cable.

[0040] In addition, in the geophysical exploration device according to the present invention, each of the plurality of electrodes is not surrounded by an outer sheath protecting the inside of the cable but is exposed to the outside, and the outer diameter of each of the plurality of electrodes is the same as the outer diameter of the outer sheath protecting the inside of the cable.

[0041] In addition, in the geophysical exploration device according to the present invention, each of the plurality of electrodes is characterized in that it is connected to a rope provided inside the cable to form a closed loop.

[0042] In addition, in the geophysical exploration device according to the present invention, each of the plurality of electrodes is characterized by having a fastening part for connection to the rope.

[0043] In addition, in the geophysical exploration device according to the present invention, each of the plurality of elastic wave receivers is characterized in that it is connected to a rope provided inside the cable to form a closed loop.

[0044] In addition, in the geophysical exploration device according to the present invention, each of the plurality of elastic wave receiving units is characterized in that it is fitted with a plurality of fixing units configured to be fixed to the rope.

[0045] And, in order to achieve the above object, a geophysical and drilling exploration robot according to the present invention comprises: a rough terrain unmanned driving platform capable of driving on rough terrain on the seabed; a drilling exploration unit provided on one side of the driving direction of the rough terrain unmanned driving platform to collect samples from the seabed; and a geophysical exploration unit to perform geophysical exploration on the seabed; wherein the geophysical exploration unit comprises: an electric exploration unit for measuring electrical resistivity of the seabed stratum by injecting current into the stratum through a plurality of electrodes spaced apart from each other on a cable laid on the seabed; an electromagnetic exploration unit for analyzing electromagnetic characteristics of the seabed stratum through an electromagnetic transmitting unit installed on the rough terrain unmanned driving platform to generate an electromagnetic field and an electromagnetic receiving unit installed on the cable to receive the generated electromagnetic field; And it is characterized by including an elastic wave exploration unit that analyzes the structure of the seabed layer by receiving elastic waves generated when the drilling exploration unit performs drilling work or elastic waves generated by a separate elastic wave transmission unit by an elastic wave receiving unit arranged on the cable.

[0046] In addition, in the geophysical and drilling exploration robot according to the present invention, the drilling exploration unit is characterized by including a core bit that cuts or crushes rock or soil on the seabed to form a core sample; a core barrel that collects the formed core sample; and a coring body that supports and rotates the core barrel and provides power necessary for drilling work.

[0047] In addition, the geophysical and drilling exploration robot according to the present invention is characterized in that it further includes an unmanned submersible for auxiliary geophysical exploration.

[0048] And, in order to achieve the above purpose, the geophysical and drilling exploration system according to the present invention is characterized by including the geophysical and drilling exploration robot; and an integrated control device located at the sea surface and connected to the geophysical and drilling exploration robot by wire or wirelessly to control and monitor the geophysical exploration and drilling exploration operations of the geophysical and drilling exploration robot.

[0049] And, in order to achieve the above object, a geophysical and drilling exploration robot according to the present invention comprises: a rough terrain unmanned driving platform capable of driving on rough terrain on the seabed; a geophysical exploration unit that performs geophysical exploration on the seabed; and a drilling exploration unit that is provided on one side of the driving direction of the rough terrain unmanned driving platform and performs sample collection on the seabed; wherein the rough terrain unmanned driving platform, the geophysical exploration unit, and the drilling exploration unit are characterized in that they are configured as an integrated unit.

[0050] In addition, in the geophysical and drilling exploration robot according to the present invention, the rough terrain unmanned driving platform is characterized by including a driving unit including an attitude adjustment unit for stabilizing driving on the seabed and a plurality of track units for moving the rough terrain unmanned driving platform; and a platform including a structural frame that is mounted on the upper part of the driving unit and includes basic devices such as a recovery device, an energy supply device, a communication and control module, and additionally physically connects and mounts a geophysical exploration unit and a drilling exploration unit to the basic devices.

[0051] In addition, in the geophysical and drilling exploration robot according to the present invention, the attitude adjustment unit is characterized by including: a link mechanism unit provided between the lower part of the platform and the track unit and composed of a plurality of links; and an actuator unit that moves the platform by imparting movement to the link mechanism unit.

[0052] In addition, in the geophysical and drilling exploration robot according to the present invention, one side of the geophysical exploration unit is provided with a drum-shaped winding unit in which a cable is wound, and a weight is attached to one end of the cable.

[0053] In addition, in the geophysical and drilling exploration robot according to the present invention, the drilling exploration unit is characterized by including a core bit that cuts or crushes rock or soil on the seabed to form a core sample; a core barrel that collects the formed core sample; and a coring body that supports and rotates the core barrel and provides power necessary for drilling work.

[0054] In addition, in the geophysical and drilling exploration robot according to the present invention, the geophysical exploration unit is characterized by including at least one of an electric exploration unit that performs electric exploration; an electromagnetic exploration unit that performs electromagnetic exploration; an elastic wave exploration unit that performs elastic wave exploration; and a positioning unit that transmits and receives sound waves to determine the position of the cable.

[0055] In addition, in the geophysical and drilling exploration robot according to the present invention, the electric exploration unit includes a plurality of electrodes that perform electric exploration transmission and electric exploration reception, and the plurality of electrodes are characterized in that they are arranged spaced apart from each other on the cable.

[0056] In addition, in the geophysical and drilling exploration robot according to the present invention, the electromagnetic exploration unit is characterized by including an electromagnetic transmission unit mounted on the exploration platform; and an electromagnetic reception unit located on the weight body.

[0057] In addition, in the geophysical and drilling exploration robot according to the present invention, the elastic wave exploration unit is characterized by including: an elastic wave transmitting unit mounted on the drilling exploration unit; and a plurality of elastic wave receiving units arranged spaced apart from each other on the cable.

[0058] In addition, in the geophysical and drilling exploration robot according to the present invention, the elastic wave transmitting unit is characterized in that it transmits elastic waves generated by driving the drilling exploration unit when the drilling exploration unit performs drilling work on the seabed or when generation of elastic waves is required, to the plurality of elastic wave receiving units.

[0059] In addition, in the geophysical and drilling exploration robot according to the present invention, the positioning unit includes a sound wave transmitting unit mounted on the exploration platform; and the sound wave transmitting unit is characterized in that it transmits sound waves for positioning the position of the cable to the plurality of elastic wave receiving units.

[0060] And, in order to achieve the above object, the geophysical and drilling exploration robot according to the present invention comprises a platform including a driving unit that drives along the seabed and a basic device such as a recovery device, an energy supply device, a communication and control module, etc., which is mounted on the upper part of the driving unit, and a structural frame that physically connects and mounts the geophysical exploration unit and the drilling exploration unit to the basic device, thereby comprising: a rough terrain unmanned driving platform capable of driving on rough terrain on the seabed; a geophysical exploration unit that performs geophysical exploration on the seabed; and a drilling exploration unit that is mounted on one side of the driving direction of the rough terrain unmanned driving platform and performs sample collection on the seabed; wherein the rough terrain unmanned driving platform, the geophysical exploration unit, and the drilling exploration unit are configured as an integrated unit, and the platform is characterized in that an unmanned submersible for auxiliary geophysical exploration is mounted thereon.

[0061] In addition, in the geophysical and drilling exploration robot according to the present invention, a drum-shaped winding part on which a cable is wound is provided on one side of the platform, and a weight is attached to one end of the cable.

[0062] In addition, in the geophysical and drilling exploration robot according to the present invention, the unmanned submersible is characterized in that it transports the weight to place and retrieve the cable on the seabed.

[0063] And, in order to achieve the above object, the geophysical and drilling exploration system according to the present invention is characterized by including a rough terrain unmanned driving platform capable of driving on a rough terrain on the seabed, a geophysical exploration unit for performing geophysical exploration on the seabed, and a drilling exploration unit provided on one side of the driving direction of the rough terrain unmanned driving platform for performing sample collection on the seabed, wherein the rough terrain unmanned driving platform, the geophysical exploration unit, and the drilling exploration unit are configured as an integrated unit; and an integrated control device located on the sea surface and connected to the geophysical and drilling exploration robot by wire or wirelessly to control and monitor the geophysical exploration and drilling exploration operations of the geophysical and drilling exploration robot.

[0064]

[0065] Specific details of other embodiments are included in the “Specific Details for Carrying Out the Invention” and the attached “Drawings.”

[0066] The advantages and / or features of the present invention, and the methods for achieving them, will become clear with reference to the various embodiments described in detail below together with the accompanying drawings.

[0067] However, the present invention is not limited to the configuration of each embodiment disclosed below, but may be implemented in various different forms, and each embodiment disclosed in this specification is provided only to ensure that the disclosure of the present invention is complete and to fully inform a person having ordinary skill in the art to which the present invention pertains of the scope of the present invention, and it should be understood that the present invention is defined only by the scope of each claim of the claims.

[0068]

[0069] According to the present invention, geophysical exploration work such as electric exploration, electromagnetic exploration, and seismic exploration is integrated into a single cable system, thereby reducing the repetitive deployment work of exploration work and enabling complex exploration work to be performed with a single installation, thereby shortening the work time and reducing costs.

[0070] In addition, according to the present invention, electromagnetic interference can be blocked through appropriate spacing between the electromagnetic transmitter and the robot body, thereby minimizing signal interference from other exploration equipment and collecting accurate exploration data.

[0071] In addition, according to the present invention, by arranging a plurality of electrodes, electromagnetic receivers, elastic wave receivers, etc. at regular intervals on a submarine cable, the 3D structure of the submarine strata can be reconstructed with precision and high resolution, thereby making a great contribution to more accurately identifying the location, size, density, etc. of resources.

[0072] In addition, according to the present invention, by utilizing the similarity between exploration techniques, multiple exploration techniques can be performed simultaneously in a single system, thereby maximizing work efficiency and obtaining more accurate data through the complementarity of exploration techniques.

[0073] In addition, according to the present invention, geophysical exploration and drilling exploration can be performed in an integrated manner in a single system, thereby reducing the cost and time required for exploration.

[0074] In addition, according to the present invention, by mounting geophysical exploration equipment and drilling exploration equipment on a rough terrain unmanned driving platform capable of driving on rough terrain on the seabed, mobility is increased, and exploration work and drilling work can be performed simultaneously, thereby drastically reducing exploration time and cost.

[0075] In addition, according to the present invention, the cable can be laid and recovered quickly and accurately on the seabed using an unmanned submersible, thereby shortening the overall work time, and damage to the cable can be prevented without being affected by the terrain conditions when recovering the cable.

[0076] In addition, according to the present invention, exploration and drilling operations can be controlled and monitored in real time through an integrated control device located at the sea surface, so that data can be transmitted and analyzed in real time to enable rapid decision-making, and problems that may occur during work can be identified in real time and responded to immediately, thereby increasing the stability and efficiency of work.

[0077]

[0078] FIG. 1 is a drawing showing a geophysical exploration device and a drilling exploration unit mounted on a robot according to an embodiment of the present invention performing geophysical exploration and drilling exploration on the seabed.

[0079] Figure 2 is a side view of a geophysical and drilling exploration robot according to an embodiment of the present invention.

[0080] Figure 3 is a perspective view showing the configuration of a geophysical exploration device and a drilling exploration unit mounted on a robot according to an embodiment of the present invention.

[0081] Figure 4 is a perspective view showing the configuration of a drilling exploration unit mounted on a robot according to an embodiment of the present invention.

[0082] FIG. 5 is a perspective view showing the internal configuration of a cable of a geophysical exploration device according to an embodiment of the present invention.

[0083] Figure 6 is an enlarged perspective view of the internal configuration of a cable of a geophysical exploration device according to an embodiment of the present invention.

[0084] Figure 7 is a functional block diagram showing the functional configuration of a geophysical exploration device mounted on a robot according to an embodiment of the present invention.

[0085] Figure 8 is a perspective view showing the configuration of a geophysical exploration device and a drilling exploration unit mounted on a robot according to an embodiment of the present invention, from the drilling exploration unit side.

[0086] FIG. 9 is a perspective view showing the configuration of a geophysical exploration device and a drilling exploration unit mounted on a robot according to an embodiment of the present invention from the cable and winding unit side.

[0087] Figure 10 is a conceptual diagram illustrating a configuration for operating a geophysical and drilling exploration robot, an unmanned submersible, and an integrated control device together according to an embodiment of the present invention.

[0088]

[0089] Before describing the present invention in detail, it should be understood that the terms or words used in this specification should not be interpreted as being unconditionally limited to their usual or dictionary meanings, and that the inventor of the present invention may appropriately define and use the concepts of various terms in order to explain his or her invention in the best possible manner, and further, that these terms or words should be interpreted as meanings and concepts that are consistent with the technical idea of ​​the present invention.

[0090] That is, it should be noted that the terms used in this specification are only used to describe preferred embodiments of the present invention, and are not intended to specifically limit the contents of the present invention, and that these terms are defined in consideration of various possibilities of the present invention.

[0091] Additionally, it should be noted that in this specification, singular expressions may include plural expressions unless the context clearly indicates a different meaning, and similarly, even if expressed in plural, may include a singular meaning.

[0092] Throughout this specification, whenever a component is described as "including" another component, it may mean that any other component may be included, rather than excluding any other component, unless specifically stated otherwise.

[0093] Furthermore, when it is described that a component is “located within or connected to” another component, it should be noted that the component may be installed in direct connection with or in contact with the other component, may be installed spaced apart from the other component by a certain distance, and in the case where the component is installed spaced apart from the other component by a certain distance, there may be a third component or means for fixing or connecting the component to the other component, and the description of this third component or means may be omitted.

[0094] On the other hand, if a component is described as being "directly connected" or "directly connected" to another component, it should be understood that no third component or means exists.

[0095] Likewise, other expressions that describe the relationship between components, such as "between" and "directly between", or "adjacent to" and "directly adjacent to", should be interpreted as having the same meaning.

[0096] In addition, it should be noted that the terms “one side,” “the other side,” “one side,” “the other side,” “first,” “second,” etc. in this specification, if used, are used to clearly distinguish one component from other components, and the meaning of the component is not limited by such terms.

[0097] In addition, terms related to position, such as “upper”, “lower”, “left”, and “right” in this specification, if used, should be understood to indicate relative positions of the corresponding components in the corresponding drawings, and unless absolute positions are specified for these positions, these position-related terms should not be understood to refer to absolute positions.

[0098] In addition, in specifying the drawing numbers for each component in each drawing in this specification, the same component has the same drawing number even if the component is shown in a different drawing, that is, the same reference number indicates the same component throughout the specification.

[0099] In the drawings attached to this specification, the size, position, connection relationship, etc. of each component constituting the present invention may be described with some exaggeration, reduction, or omission in order to sufficiently clearly convey the idea of ​​the present invention or for convenience of explanation, and therefore the proportions or scales may not be strict.

[0100] In addition, in the following description of the present invention, a detailed description of a configuration that is judged to unnecessarily obscure the gist of the present invention, for example, a known technology including a prior art, may be omitted.

[0101]

[0102] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the drawings.

[0103] The present invention relates to a geophysical exploration device (200) mounted on a geophysical and drilling exploration robot (1000) that can improve mobility, reduce costs, and maximize exploration efficiency by mounting an automated unmanned drilling device on a rough terrain driving device platform that is not a bottom-mounted type. As illustrated in FIG. 1, the geophysical and drilling exploration robot (1000) according to an embodiment of the present invention includes a rough terrain unmanned driving platform (100) capable of driving on a rough terrain on the seabed, a geophysical exploration device (200), and a drilling exploration unit (300), and can perform complex exploration work on the seabed at low cost and with high efficiency.

[0104] Hereinafter, with reference to FIGS. 2 to 9, the configuration, function, and effect of the geophysical exploration device (200) according to an embodiment of the present invention will be described in detail.

[0105] A geophysical exploration device (200) mounted on a robot (1000) capable of performing geophysical exploration and drilling exploration work on the seabed remotely and / or unmanned according to an embodiment of the present invention comprises: an electric exploration unit (210) for measuring electrical resistivity of a seabed layer by injecting current into the layer through a plurality of electrodes (215) spaced apart from each other on a cable (203) laid on the seabed; an electromagnetic exploration unit (220) for analyzing electromagnetic characteristics of a seabed layer through an electromagnetic transmission unit (223) installed on the robot (1000) for generating an electromagnetic field and an electromagnetic reception unit (225) installed on the cable (203) for receiving the generated electromagnetic field; And it may include an elastic wave exploration unit (230) that analyzes the structure of the seabed layer by receiving elastic waves generated when the robot (1000) performs drilling work or elastic waves generated by a separate elastic wave transmitter (233) by an elastic wave receiver (235).

[0106] Geophysical exploration to determine detailed reserves of deep-sea mineral resources includes electrical, electromagnetic, and seismic exploration. These geophysical exploration methods share significant similarities, making their integration time-saving. Furthermore, conducting drilling to obtain samples from the seabed in a system integrated with a geophysical exploration device (200) and analyzing the resulting seismic waves can reduce exploration costs and time, maximizing exploration efficiency.

[0107] In an embodiment of the present invention, a geophysical and drilling exploration robot (1000) includes a rough terrain unmanned driving platform (100) capable of driving on rough terrain on the seabed, a geophysical exploration device (200) that performs geophysical exploration on the seabed, and a drilling exploration unit (300) that is provided on one side of the driving direction of the driving platform (100) and performs sampling on the seabed, but the rough terrain unmanned driving platform (100), the geophysical exploration device (200), and the drilling exploration unit (300) may be configured as an integrated unit.

[0108] The rough terrain unmanned driving platform (100) may include a driving unit (110) including an attitude adjustment unit (115) for stabilizing driving on the seabed and a plurality of track units (113) for moving the rough terrain unmanned driving platform, and a platform (120) including a structural frame that is mounted on the top of the driving unit (110) and physically connects and mounts a geophysical exploration device (200) and a drilling exploration unit (300) in addition to the basic devices such as a recovery device, an energy supply device, a communication and control module, etc.

[0109] Exploration devices such as a geophysical exploration device (200) and a drilling exploration unit (300) can be mounted or stored in the structural frame. Although it is depicted as a rectangular container shape in the drawings of this specification, it can be implemented in various shapes such as modular or open depending on the purpose or environment.

[0110] Here, the term "recovery device" means a device for launching and recovering underwater operating equipment such as an unmanned submersible (400) or cable (203) used to explore and extract oil and gas in the ocean.

[0111] In addition, since the seabed is a very irregular rough terrain, a separate attitude adjustment device is required to control the attitude on the rough terrain in order for the rough terrain unmanned driving platform (100) to drive stably on the seabed.

[0112] To this end, the posture adjustment unit (115) may include a link mechanism unit (115a) composed of a plurality of links and provided between the lower part of the platform (120) and the track unit (113), and an actuator unit (115b) that moves the platform (120) by imparting movement to the link mechanism unit (115a).

[0113] The track section (113) may generally include an endless track and a driving motor for driving the endless track.

[0114] The actuator unit (115b) includes a plurality of actuators, and by operating these actuators, movement can be applied to a plurality of links constituting the link mechanism unit (115a).

[0115] The track unit (113) coupled to the link mechanism unit (115a) can also be tilted within a certain angle to provide suspension so that the unmanned rough terrain driving platform (100) can drive even on an irregular seabed.

[0116] In an embodiment of the present invention, the plurality of electrodes (215) for electric exploration are arranged at regular intervals from each other on the cable (203), and can perform both a transmitting function for injecting electric current for electric exploration into a stratum and a receiving function for receiving the electric current.

[0117] Electrical exploration using electrodes (215) installed on cables (203) on the seabed is a method for exploring subsurface structures by measuring the electrical properties of the seabed. This method, also known as electrical resistivity exploration, is used to determine the location and distribution of underground resources by measuring the electrical resistance of seabed strata. Electrical exploration is useful for deep-sea mineral resource exploration. For example, strata containing resources such as metals, oil, and gas exhibit different electrical properties from surrounding strata, allowing for estimation of the location and distribution of such resources. It can also be used for groundwater exploration and ground stability investigations.

[0118] In conventional technology, some of the electrodes installed on submarine exploration cables function as transmitters. The transmitters transmit current through positive and negative electrodes into the seafloor. As this current passes through the ground, its flow varies depending on the ground's electrical resistance. The remaining electrodes function as receivers, measuring the voltage changes that occur as the transmitted current passes through the ground. This voltage difference varies depending on the ground's electrical resistivity. By analyzing the voltage data measured by the receivers, the electrical characteristics of the seafloor can be identified and the location, size, and shape of underground structures can be estimated.

[0119] The placement of transmitter and receiver electrodes is a critical factor in determining the resolution and depth of exploration. For example, a wider spacing between electrodes allows for deeper exploration, while a closer spacing improves resolution, allowing for a more accurate understanding of the detailed structure of the geologic formation.

[0120] In an embodiment of the present invention, the functions of the transmitter and receiver can be performed simultaneously by a single electrode (215), and by arranging a plurality of electrodes (215) at regular intervals on a cable (203), the interval between the transmitting electrode and the receiving electrode can be freely adjusted as needed, so there is an advantage in that the efficiency and precision of electrical exploration can be improved.

[0121] In addition, in an embodiment of the present invention, a mounting frame (221) may be mounted on one side of the robot (1000), and a drum-shaped winding part (205) for winding the cable (203) may be mounted on the lower part of the mounting frame (221).

[0122] The winding unit (205) may be a winch system generally including a drum, a winch motor and a winch mount, and may include a tension adjusting device for adjusting the tension of the cable (203).

[0123] In order to facilitate the work of laying and recovering the cable (203) on the seabed using the winding unit (205), a mounting frame (221) to which the winding unit (205) is attached can be installed on the lower part of the geophysical and drilling exploration robot (1000).

[0124] Additionally, in an embodiment of the present invention, the electromagnetic transmission unit (223) may be mounted on one end of the mounting frame (221).

[0125] In this way, when the electromagnetic transmission unit (223) is mounted on the end of a separate mounting frame (221) to separate the robot (1000) body and the electromagnetic transmission unit (223), there is an effect of preventing interference with signals generated in other geophysical explorations such as electric exploration or seismic exploration. As illustrated in the drawing, the mounting frame (221) may be configured in an appropriate shape such as a ladder shape or a grid shape so as to provide an appropriate separation distance between the electromagnetic transmission unit (223) and the robot (1000) body and to stably support the electromagnetic transmission unit (223) and the winding unit (205).

[0126] In addition, in an embodiment of the present invention, the mounting frame (221) may be formed of a non-conductive material to prevent electromagnetic interference. For example, polyurethane, polyvinyl chloride (PVC), polyethylene (PE), neoprene, polypropylene, ethylene propylene diene monomer (EPDM), fiberglass-reinforced plastic (FRP), polytetrafluoroethylene (PTFE, Teflon), etc. may be used as the material of the mounting frame.

[0127] In addition, in an embodiment of the present invention, a weight (207) is attached to one end of the cable (203), and the electromagnetic receiver (225) can be mounted on the weight (207).

[0128] A weight (207) attached to one end of a cable (203) functions as a weight that fixes the end of the deployed cable (203) to the seabed, and enables easy storage, deployment, and recovery of the cable (203) through a tension control device provided by the winding unit (205).

[0129] If the cable (203) is loosely placed, it may be difficult to determine the exact location because the curved portion increases, making it difficult to confirm the posture. However, by adjusting the tension using the end weight and winch system as described above, it is possible to improve the location accuracy by maintaining the cable (203) in a pulled state without applying excessive load to the cable (203).

[0130] An electrode (215) for electrical exploration required for geophysical exploration and an elastic wave receiver (235) for elastic wave exploration may be placed on the cable (203).

[0131] Geophysical exploration includes electrical exploration, electromagnetic exploration, and seismic exploration. In the past, it was common to lay separate cables for each of these types of exploration.

[0132] However, since each exploration technique for geophysical exploration has great similarities and can save time when combined with each other, in the present invention, electrodes (215), receiving devices, or transmitting devices used for electric exploration, electromagnetic exploration, and seismic exploration are arranged on a single cable (203). In this case, compared to the past where separate cables were arranged to perform each exploration technique, resulting in the need for three or more repetitive cable arrangements, all exploration techniques required for geophysical exploration can be prepared with just one cable (203) arrangement, so there is an advantage in that work time and costs can be reduced.

[0133] In addition, not only is the time for arranging transmitters and receivers for each exploration technique mentioned above reduced, but the location information of transmitters and receivers commonly required during exploration can be commonly utilized in a single measurement, so the time for position measurement is also reduced and the exploration precision can be expected to improve due to simultaneous measurement.

[0134] In addition, electromagnetic exploration is an exploration method that transmits electromagnetic waves generated on the surface of the Earth underground and measures and analyzes how these electromagnetic waves change due to various underground media. It generates an electromagnetic field with a transmitter and measures the electromagnetic field generated by the current induced in an anomaly below the seabed through a receiver. This bistatic electromagnetic exploration method, in which the transmitter and receiver are separated from each other, can obtain excellent resolution and can measure deep places.

[0135] In an embodiment of the present invention, the electromagnetic transmitter (223) may be a coil such as a solenoid coil or a loop coil that can form a magnetic field, and the electromagnetic receiver (225) may be a coil such as a solenoid coil or a loop coil that can detect a change in a magnetic field and induce a voltage.

[0136] As in the embodiment of the present invention, if the electromagnetic transmitter (223) is mounted on one end of the mounting frame (221) and the electromagnetic receiver (225) is positioned on a weight (207) attached to the end of the cable (203), a bistatic electromagnetic exploration method capable of obtaining excellent resolution and measurement depth can be implemented.

[0137] Additionally, in an embodiment of the present invention, the elastic wave transmitting unit (233) may include an elastic wave drill (234) that generates vibrations by perforating the seabed.

[0138] Seismic surveying is a method of analyzing the structure and properties of the subsurface using artificially generated elastic waves (seismic waves). By artificially generating seismic waves and measuring their reflection and refraction characteristics as they pass through the subsurface, the subsurface structure can be interpreted. Because the speed of seismic waves varies depending on the elastic modulus and density of the underlying medium, analyzing the reflected seismic waves can reveal the structure and properties of the subsurface.

[0139] In embodiments of the present invention, artificially generating seismic waves for elastic wave exploration can be performed in various ways.

[0140] For example, by incorporating SWD (seismic while drilling) technology, the vibration generated when the core bit (310) of the drilling exploration unit (300) drills through rock can be converted into seismic waves (elastic waves) to perform sound transmission through drilling. Optionally, when generation of elastic waves is required, the drilling exploration unit (300) can be driven to generate elastic waves, and multiple elastic wave receivers (235) can receive the generated elastic waves to perform elastic wave exploration.

[0141] Additionally, for example, a method of driving piles into the seabed through drilling and then applying an impact to the piles to generate vibrations can also be applied.

[0142] Additionally, for example, to artificially apply impulsive pressure when drilling, devices such as an impact hammer, a pulsing pump, an air hammer, a sonic drill, a hydraulic hammer, and a radial impactor may be used.

[0143] However, since the economic efficiency is reduced when the drilling exploration unit (300) used for drilling work is used only for the purpose of elastic wave exploration, in the embodiment of the present invention, a separate elastic wave transmission unit (233) is configured to generate elastic waves, and in this case, an elastic wave drill (234) for the purpose of generating vibrations by drilling the seabed is provided below the elastic wave transmission unit. This elastic wave drill (234) may be smaller in size and output compared to a drill used for drilling exploration.

[0144] The elastic wave drill (234) of the elastic wave transmitting unit (233) according to an embodiment of the present invention may include a drill rotation motor, a vertical reciprocating impact motor, etc. Specifically, the elastic wave drill (234) of the elastic wave transmitting unit (233) rotates and drills the rock-like ground to generate elastic waves. Alternatively, the elastic wave drill (234) may generate additional vertical elastic waves by reciprocating vertically.

[0145] Typically, seismic exploration uses a pneumatic method using an air gun or a sonic air generation method using electrolysis using a spark, but these devices cannot be used in the deep sea.

[0146] Alternatively, a method of carrying a weight in the deep sea is applicable, but the problem is that the equipment size must be too large to carry enough weight required for seismic exploration.

[0147] Accordingly, there is an advantage in that elastic waves can be effectively generated using small and light equipment by utilizing the vibration generated when the ground is drilled through the elastic wave transmitting unit (233) according to the embodiment of the present invention.

[0148] However, this is only possible in rocky ground, and analysis may be difficult because the generated elastic wave excitation (transmission) signal cannot be controlled, which can be said to be similar to borehole elastic wave exploration.

[0149] In addition, in an embodiment of the present invention, a plurality of elastic wave receivers (235) may be provided and spaced apart from each other at regular intervals on the cable (203).

[0150] The elastic wave receiver (235) may include an underwater acoustic sensor such as a hydrophone. The elastic wave receiver (235) can detect sound waves or elastic waves and convert them into electrical signals. When a plurality of elastic wave receivers (235) are arranged at regular intervals on a cable (203) laid on the seabed, elastic waves can be captured simultaneously at multiple points, thereby providing an advantage in that the three-dimensional structure of the stratum can be reconstructed more accurately. The elastic wave signal captured by the elastic wave receiver (235) is converted into an electrical signal and transmitted to a probe or an undersea base via a data cable, and by analyzing this data, the structure, thickness, density, and potential resource locations of the seabed stratum can be identified.

[0151] This method of mounting multiple elastic wave receivers (235) on a submarine cable has the advantage of allowing precise adjustment of the spacing between elastic wave receivers (235), thereby obtaining a high-resolution underground structure image, and minimizing signal distortion due to the external environment because the receivers are placed in a fixed state on the seabed.

[0152] Below, the internal configuration of the cable (203) is described in detail with reference to FIGS. 5 and 6.

[0153] FIG. 5 is a perspective view showing the internal configuration of a cable of a geophysical exploration device according to an embodiment of the present invention, and FIG. 6 is an enlarged perspective view showing the internal configuration of a cable of a geophysical exploration device according to an embodiment of the present invention.

[0154] Cables for geophysical exploration on the seabed must have mechanical characteristics such as high tensile strength, maintain a small allowable bending radius, and have appropriate negative buoyancy while maintaining a constant outer diameter.

[0155] First, the cable must have high tensile strength to withstand the load transmitted from the weight. This challenge can be addressed by using high-tensile rope material and a closed loop.

[0156] Second, a small allowable bend radius must be maintained, meaning the cable must bend easily to be wound around the drum. This challenge can be addressed by placing short electrodes on a long length of rope.

[0157] Third, a consistent outer diameter must be maintained to facilitate winding on the drum (winding section). This challenge can be addressed by maintaining the outer diameter of the cable's outer sheath and the electrode's outer diameter identical.

[0158] Fourth, when installing cables underwater, it's undesirable for them to be too heavy (negative buoyancy) or too light (positive buoyancy). Therefore, they must maintain an appropriate level of negative buoyancy. Considering the external underwater pressure, they can be connected to a pressure compensation device to enhance stability. This challenge can be addressed by filling the cable's interior with a low-specificity liquid, such as a non-conductive pressure compensation oil.

[0159] That is, since the specific gravity of the electrodes for the electric transmitter and receiver, elastic wave receiver (hydrophone), cable, etc. is large, the pressure can be compensated by filling the inside of the cable with pressure compensation oil or insulating oil with low specific gravity.

[0160] Furthermore, maintaining non-conductivity between electrodes is crucial for improving the cable's electrical exploration efficiency. To address this challenge, the cable's outer jacket can be made of a material with high non-conductive flexibility, good wear resistance, and appropriate rigidity, such as polyethylene (PE). The cable's internal rope can be made of a material with high tensile non-conductivity (high electrical resistivity).

[0161] Additionally, in order to improve the elastic wave exploration efficiency of the cable, it is important to construct the area surrounding the elastic wave receiver using a low-density material.

[0162] That is, the outer covering of the cable uses a polymer resin series material such as low-density PE (Polyethylene), the rope uses a polymer resin series such as low-density polyaramid, and the empty space within the outer covering is filled with a low-density liquid, thereby enabling the elastic wave receiver to effectively detect elastic waves.

[0163] Below, the characteristics of the cable (203) of the geophysical exploration device (200) according to an embodiment of the present invention designed to solve these problems are described.

[0164] Referring to FIGS. 5 and 6, the cable (203) of the geophysical exploration device (200) according to an embodiment of the present invention is surrounded by an outer sheath (203a) that protects the inside of the cable (203), and a rope (203b) is provided inside the cable (203) to form a closed loop.

[0165] The outer shell (203a) acts as a protective film to block the inside of the cable (203) from external physical impacts and environmental influences.

[0166] The outer shell (203a) may be formed of a polymer resin material that is non-conductive and has a density equal to or lower than that of water.

[0167] For example, PE (Polyethylene) is a non-conductive polymer resin, and the density of PE is 0.88-0.96 g / cm 3 As the density of water (1 g / cm at 4 °C) 3 ) is lower than that of PE, so PE may be suitable as a material for the outer shell (203a).

[0168] In addition, any other material that has high non-conductive flexibility, good wear characteristics, and appropriate rigidity, and has a density equal to or lower than that of water, may be suitable as a material for the outer shell (203a).

[0169] The rope (203b) can be formed of a non-conductive polymer resin material.

[0170] For example, polyaramid, which is used in bulletproof vests and special crane slings, can be used as the material for the rope (203b).

[0171] Polyaramid is a material with high tensile strength and non-conductivity (high electrical resistance), and can prevent direct current flow between electrodes, so it can be suitable as a material for the rope (203b).

[0172] The reason for using a non-conductive material instead of the commonly used iron wire as the material for the rope (203b) is to minimize the direct flow of current between electrodes and to increase the efficiency of electric exploration by allowing the current to flow into the underground foundation.

[0173] By arranging a synthetic fiber rope (203b) inside a cable (203) to form a closed loop connecting one end and the other end of the cable (203), the load applied to the cable (203) can be distributed to improve durability, and when an impact is applied to the cable (203), the synthetic fiber rope (203b) can absorb it, thereby reducing damage to the cable (203). This is an important advantage, especially in harsh environments or environments subject to high vibration.

[0174] This closed loop ensures that the tensile force of the cable (203) is evenly transmitted to the rope (203b). If the closed loop is not implemented and separate cables are connected, the load will be concentrated on the shorter cable when subjected to tensile force, resulting in a weakened strength. The closed loop allows the cable length to be adjusted so that the load is evenly applied to the cable at the point where the cable bends under tensile load.

[0175] In an embodiment of the present invention, the internal space of the cable (203) may be filled with a liquid that is non-conductive and has a density equal to or lower than water.

[0176] In order to improve the elastic wave exploration efficiency of the cable (203), it is important to construct the area around the elastic wave receiver (235) using a low-density material.

[0177] That is, the outer covering (203a) of the cable (203) uses a material of a polymer resin series such as low-density PE (Polyethylene), the rope (203b) uses a polymer resin series such as low-density polyaramid, and the empty space within the outer covering (203a) is filled with a low-density liquid, thereby enabling the elastic wave receiver (235) to effectively detect elastic waves.

[0178] For example, liquids such as insulating oil or silicone oil, which are commonly used as pressure compensation oil, have densities that are slightly lighter than or similar to water and can be mixed or adjusted to suit a specific application, so that these liquids can be used to fill the internal space of the cable (203).

[0179] When the material of the outer covering (203a) of the cable (203), the rope (203b), and the liquid filling the internal space of the cable (203) are adopted as described above, it is possible to satisfy all the mechanical and electrical characteristics required for a cable for performing geophysical exploration on the seabed as mentioned above, and also has the advantage of improving the efficiency of elastic wave exploration.

[0180] In an embodiment of the present invention, each of a plurality of electrodes (215) spaced apart from each other on the cable (203) may be connected to a rope (203b) provided inside the cable (203) to form a closed loop.

[0181] The above plurality of electrodes (215) may be configured to be exposed to the outside without being surrounded by the outer covering (203a) of the cable (203).

[0182] Additionally, the outer diameter of each of the plurality of electrodes (215) may be the same as the outer diameter of the outer sheath (203a) protecting the inside of the cable (203).

[0183] This is to maintain the outer diameter of the cable (203) constant so that the cable (203) can be well wound around the winding portion (205).

[0184] Additionally, each of the plurality of electrodes (215) may be provided with a fastening portion (215a) for connection to a rope.

[0185] The fastening member (215a) may be in the form of a ring that can be connected by hanging a rope (203b), and may be configured so that the rope (203b) connects between a plurality of electrodes (215) spaced apart from each other on the cable (203), thereby forming a plurality of closed circuits of the rope (203b) connecting between the plurality of electrodes (215).

[0186] The rope (203b) connects between a plurality of electrodes (215) in the form of a closed loop, and the fastening portion (215a) is firmly connected to the rope (203b), thereby contributing to the overall load distribution and vibration absorption function.

[0187] In an embodiment of the present invention, each of a plurality of elastic wave receivers (235) spaced apart from each other on the cable (203) may be connected to a rope (203b) provided inside the cable (203) to form a closed loop.

[0188] Additionally, each of the plurality of elastic wave receivers (235) can be fitted and connected to a plurality of fixing parts (235a) configured to be fixed to the rope (203b).

[0189] The fixed portion (235a) is configured to fix each of the plurality of elastic wave receivers (235) to a designated position within the cable (203), and can be fixed in such a way that both ends of the fixed portion (235a) are fitted into a rope (203b) forming a closed loop.

[0190] In addition, an elastic wave receiver (235) can be fitted into the central portion of the fixed portion (235a) so that the elastic wave receiver (235) can operate while stably maintaining its position inside the cable (203).

[0191] In addition, a geophysical and drilling exploration robot (1000) according to an embodiment of the present invention includes a rough terrain unmanned driving platform (100) capable of driving on rough terrain on the seabed, a drilling exploration unit (300) provided on one side of the driving direction of the rough terrain unmanned driving platform (100) to collect samples on the seabed, and a geophysical exploration unit (200) to perform geophysical exploration on the seabed, wherein the geophysical exploration unit (200) includes an electric exploration unit (210) that measures the electrical resistivity of the seabed layer by injecting current into the layer through a plurality of electrodes (215) that are spaced apart from each other on a cable (203) laid on the seabed, an electromagnetic transmitter (223) installed on the rough terrain unmanned driving platform (100) to generate an electromagnetic field, and an electromagnetic receiver (225) installed on the cable (203) to receive the generated electromagnetic field. It may include an electromagnetic exploration unit (220) that analyzes the electromagnetic properties of the seabed strata through the drilling exploration unit (300) and an elastic wave exploration unit (230) that analyzes the structure of the seabed strata by receiving elastic waves generated by the elastic wave receiving unit (235) or elastic waves generated by a separate elastic wave transmitting unit (233) when the drilling exploration unit (300) performs drilling work.

[0192] Figure 7 is a functional block diagram showing the functional configuration of a geophysical exploration device (200) mounted on a robot (1000) according to an embodiment of the present invention. Here, the geophysical exploration device (200) may also be referred to as a geophysical exploration unit (200).

[0193] A geophysical exploration unit (200) according to an embodiment of the present invention may include at least one of an electric exploration unit (210) that performs electric exploration, an electromagnetic exploration unit (220) that performs electromagnetic exploration, an elastic wave exploration unit (230) that performs elastic wave exploration, and a positioning unit (240) that transmits and receives sound waves to determine the position of a cable (203).

[0194] In an embodiment of the present invention, the geophysical exploration unit (200) may be an electronic device housed in the structural frame of the platform (120), and may be implemented through a non-transitory memory (not shown) configured to store data regarding an algorithm configured to control the operation of various components or software instructions for reproducing the algorithm, and a processor (not shown) configured to perform the operations described below using the data stored in the memory. Here, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single chip integrated with each other. The processor may take the form of one or more processors.

[0195] The geophysical exploration unit (200) may include an electric exploration unit (210), an electromagnetic exploration unit (220), an elastic wave exploration unit (230), and a positioning unit (240) for positioning a cable (203) in module units.

[0196] In addition, in an embodiment of the present invention, the geophysical exploration unit (200) includes a cable sensor unit (260), which means a cable (203) laid on the seabed for geophysical exploration, and sensor devices such as an electrode (215) and an electromagnetic receiver (225), and an elastic wave receiver (235) placed on the cable (203).

[0197] Additionally, in an embodiment of the present invention, the geophysical exploration unit (200) may be configured to communicate with the integrated control device (500) described later via wired and / or wireless communication, including a communication unit (250). For example, the communication unit (250) may be a communication cable connected to the integrated control device (500), but other wireless communication means may also function as the communication unit (250).

[0198] In addition, the electric exploration unit (210) includes a plurality of electrodes (215) that perform electric exploration transmission and electric exploration reception, and the plurality of electrodes (215) can be arranged spaced apart from each other on the cable (203).

[0199] The electrode (215) of the electric exploration unit (210) is composed of a part that acts as a transmitter for sending current to the positive / negative electrodes and a part that acts as a receiver for measuring the voltage formed on the other positive / negative electrode by the applied current. The electrode (215) for electric exploration according to the embodiment of the present invention can perform the roles of both the transmitter and the receiver.

[0200] These electrodes (215) are arranged to be spaced apart from each other on the cable (203), and the cable (203) is laid on the seabed to analyze the underground electrical characteristics, thereby obtaining various geological information.

[0201] In addition, the electromagnetic exploration unit (220) may include an electromagnetic transmission unit (223) mounted on the platform (120); and an electromagnetic reception unit (225) located on the weight body (207).

[0202] In an embodiment of the present invention, an electromagnetic transmitter (223) is mounted at the end of a mounting frame (221) provided on a platform (120), and an electromagnetic receiver (225) is positioned on a weight (207) attached to the end of a cable (203), thereby implementing a bistatic electromagnetic exploration method capable of obtaining excellent resolution and measurement depth.

[0203] In addition, the elastic wave exploration unit (230) may include an elastic wave transmission unit (233) mounted on the drilling exploration unit (300) and a plurality of elastic wave reception units (235) spaced apart from each other on the cable (203), and the elastic wave transmission unit (233) may be configured to transmit elastic waves generated by driving the drilling exploration unit (300) when the drilling exploration unit (300) performs drilling work on the seabed or when generation of elastic waves is required, to the plurality of elastic wave reception units (235).

[0204] In an embodiment of the present invention, the elastic wave transmitting unit (233) may include a vibration exciter capable of artificially generating seismic waves, and the elastic wave receiving unit (235) may include an underwater acoustic sensor such as a hydrophone.

[0205] Additionally, in an embodiment of the present invention, the elastic wave transmitting unit (233) may be configured to generate and transmit elastic waves through separate drilling.

[0206] Accordingly, there is an advantage in that elastic waves can be effectively generated using small and light equipment by utilizing the vibration generated when the ground is drilled through the elastic wave transmitting unit (233) according to the embodiment of the present invention.

[0207] In addition, the positioning unit (240) may include a sound wave transmitting unit (243) mounted on the platform (120), and the sound wave transmitting unit (243) may transmit sound waves to a plurality of elastic wave receiving units (235) for positioning the position of the cable (203).

[0208] The sound wave transmitter (243) according to an embodiment of the present invention may be an acoustic transmitter for underwater positioning, such as USBL (ultra-short baseline).

[0209] In an embodiment of the present invention, the elastic wave receiving unit (235) may include an underwater acoustic sensor such as a hydrophone, so that the elastic wave receiving unit (235) can receive not only elastic waves transmitted by the elastic wave transmitting unit (233), but also sound waves transmitted by the sound wave transmitting unit (243).

[0210] Here, there is a difference in that USBL uses relatively high frequencies and seismic exploration uses relatively low frequencies, so even if the receiver for submarine cable seismic exploration and the high-frequency receiver for USBL for positioning are located together or used together, each signal can be distinguished.

[0211] When the sound waves transmitted by the sound wave transmitter (243) are received by multiple elastic wave receivers (235) arranged on the cable (203), the position of the elastic wave receiver (235) can be measured, and through this, the positions of other transmitters and receivers for geophysical exploration (electrical, electromagnetic, etc.) in the vicinity can be estimated, and the shape of the cable (203) laid can also be measured.

[0212] In addition, as illustrated in FIG. 10, in an embodiment of the present invention, an acoustic installation stand (241) in the shape of a ladder frame or a grid frame is installed on the main body of a geophysical and drilling exploration robot (1000), and a sound wave transmitting unit (243) such as a USBL is installed at the end of the acoustic installation stand (241) to measure the shape of the cable (203) and the position of the electrode (215) and / or the elastic wave receiving unit (235).

[0213] In addition, as illustrated in FIG. 4, in an embodiment of the present invention, the drilling exploration unit (300) may include a core bit (330) that cuts or crushes rock or soil on the seabed to form a core sample, a core barrel (320) that collects the formed core sample, and a coring body (310) that supports and rotates the core barrel (320) and provides power necessary for drilling operations.

[0214] The drilling exploration unit (300) may include a core bit (330) that cuts or crushes rocks or soil on the seabed to form a core sample, a core barrel (320) that collects the formed core sample, and a coring body (310) that supports and rotates the core barrel (320) and provides power necessary for drilling operations.

[0215] Drilling exploration is the process of analyzing underground structures to explore and extract underground resources such as oil, gas, and minerals, and core sampling is one of the important methods of obtaining geological information by collecting continuous samples of underground rocks, soil, and sediments during drilling exploration.

[0216] The drilling exploration unit (300) according to an embodiment of the present invention is equipment used for such core sampling. The configuration of the drilling exploration unit (300) can be divided into a configuration that operates below the ground and a configuration that operates above the ground.

[0217] The configuration of a drilling exploration unit (300) driven on the ground may include a coring body (310), a coring body (310) up-and-down movement mechanism, a turret-type magazine, a pipe transmission device, a drill head, a guide, a fixing device, etc.

[0218] The upper and lower movement mechanism of the coring body (310) performs an up-and-down translational movement, and when the geophysical and drilling exploration robot (1000) is in motion, it can perform the function of raising the coring body (310) above the driving part (110) and lowering the coring body (310) to the ground only when core drilling.

[0219] The turret-type magazine may be equipped with one core barrel magazine and one rod magazine, and each turret-type magazine may be configured to store multiple core barrels and rods.

[0220] Here, barrels, rods, etc. can be collectively called pipes.

[0221] Additionally, the turret-type magazine may include a turret rotation device and a pipe fixing / disassembling device.

[0222] The pipe transfer device performs the function of moving a pipe stored in a magazine to a drill head, fixing it for fastening, and then dismantling it when fastening is complete, and may include a moving device that can rotate at a specific angle and a pipe fixing / dismantling device.

[0223] In an embodiment of the present invention, the turret-type magazine and pipe delivery device can be automated.

[0224] The drill head is connected to the coring body (310) and performs the function of transmitting rotational force and unloading force to the load. When performing fastening / disconnecting operations such as screw fastening between the core barrel and the load, or screw fastening between loads, it performs low torque / high speed rotation, and when performing coring operations such as operating the core bit through the load / core barrel, it can perform high torque / low speed rotation.

[0225] Additionally, the drill head may include a vertical feeder such as a linear motor / vertical guide and a rotating device such as a rotary motor / rotary guide (bearing).

[0226] The guide can be configured to allow longitudinal movement and restrict planar movement to ensure structural safety of the pipe module (core barrel, rod) when the drill head is driven.

[0227] The fixture may perform the function of securing the load and / or core barrel when engaging and / or disengaging the load and / or core barrel and the drill head.

[0228] The configuration of a drilling exploration unit (300) driven below the ground may include a core barrel (320) attached to the end of a drill pipe to collect a core sample, a core bit (330) attached to the end of the core barrel (320) to cut rock or soil, a rod, etc.

[0229] A core barrel (320) is a device attached to the end of a drill pipe to collect a core sample, and may include a tube, a rod, a lifter, a reaming cell, a head, a core bit (330), etc.

[0230] The rod (drilling rod) performs the function of transmitting the rotational force and unloading force of the drill head to the core barrel (320), and a plurality of rods are connected in series, and the uppermost rod can be connected to the drill head.

[0231] Multiple heads (core barrel heads) are provided, and the upper portions can be connected to a drill head or rod. The threads of the core barrel differ from those of the drill head or rod due to the core being embedded within the core barrel. To address this, the upper portion of the head can be made to conform to the thread specifications of the drill head or rod, while the lower portion can conform to the thread specifications of the core barrel.

[0232] A plurality of core barrel tubes (320) are provided, and a core barrel head can be connected to the upper portion.

[0233] The tube may consist of an outer tube and an inner tube, and the inner tube may be configured to protect the collected core.

[0234] The tube of the core barrel (320) can be selectively used in various types such as a single tube core barrel, a double tube core barrel, and a triple tube core barrel depending on the environment and purpose.

[0235] In an embodiment of the present invention, the tube of the core barrel (320) may be a single tube core barrel of a non-wire type in which the outer tube and the inner tube are integrated, in which case the tube of the outer tube and the inner tube are integrated can perform two functions: the function of containing a sample and the function of transmitting rotational force and compression force to the core bit.

[0236] A plurality of reaming shells are provided, and a core barrel can be connected to the upper part, and can perform the functions of maintaining the stability of the borehole and preventing wear.

[0237] A plurality of core lifters are provided and installed inside the core bit (330) to perform the function of preventing leakage of the sample core.

[0238] A core bit (330) is a tool that cuts rock to separate a sample from the bedrock. A plurality of core bits are provided, and a reaming cell can be connected to the upper portion.

[0239] In an embodiment of the present invention, the core bit (330) can be selectively used in various types, such as a diamond core bit, a PDC core bit, and a tungsten carbide core bit, depending on the environment and purpose.

[0240] Additionally, the coring body (310) may include a core lift system for transporting the collected core sample, and may lift the core barrel (320) using a wire line or drill pipe.

[0241] Typically, geological data is first analyzed to determine where core sampling is required. Core sampling is then performed by drilling a drill pipe to a depth below the surface, and a core barrel (320) is attached to the end of the drill pipe to begin sampling. A core bit (330) cuts through the ground, and core samples are collected in the inner tube of the core barrel (320).

[0242] When the core barrel (320) is full, the core barrel (320) is lifted using a core lift system, and the collected core sample is transported to a laboratory for geological analysis to analyze the physical properties, chemical composition, microstructure, etc. of the core sample.

[0243] The advantages of core sampling are that it allows for direct understanding of the continuous structure of underground strata, allows for accurate analysis of the detailed geological characteristics of the strata, and provides high reliability because data is obtained through directly collected samples.

[0244] Figure 10 is a conceptual diagram illustrating a configuration for operating a geophysical and drilling exploration robot (1000), an unmanned submersible (400), and an integrated control device (500) together according to an embodiment of the present invention.

[0245] As illustrated in FIG. 10, in an embodiment of the present invention, the geophysical and drilling exploration robot (1000) may further include an unmanned submersible (400) for auxiliary geophysical exploration.

[0246] In the geophysical and drilling exploration robot (1000) of the present invention, work can be basically performed with only a robot equipped with geophysical equipment and drilling equipment on a driving platform, but by additionally utilizing an unmanned submersible (400), work efficiency can be increased and work can be performed stably.

[0247] Meanwhile, these unmanned submarines (400) have the characteristic of being stored / loaded onto robots in normal times and recovered when necessary.

[0248] An unmanned submersible (400) for auxiliary geophysical exploration can be mounted on a platform (120) of a geophysical and drilling exploration robot (1000), and the unmanned submersible (400) can transport a weight (207) to place and retrieve a cable (203) on the seabed.

[0249] The unmanned submersible (400) may be a remotely operated vehicle (ROV) or an autonomous underwater vehicle (AUV) for underwater exploration, and an acoustic receiver (245) for positioning may be attached to the unmanned submersible (400). The acoustic receiver (245) may include an underwater acoustic sensor such as a hydrophone. The acoustic receiver (245) may receive an acoustic signal transmitted by the acoustic transmitter (243).

[0250] As described above, when the unmanned submersible (400) transports the weight (207) attached to the end of the cable (203) and installs the cable (203) on the seabed, the work time can be drastically shortened compared to when the rough terrain unmanned driving platform (100) moves and installs the cable (203) on the seabed, and the installation of the cable (203) is possible regardless of the topographical condition of the seabed. Also, when recovering the cable (203), compared to when the winch system pulls the cable (203) placed on the seabed, recovery is possible regardless of the topographical condition of the seabed, so there is an advantage in that damage to the cable (203) can be prevented and the work time can be shortened.

[0251] In addition, the geophysical and drilling exploration system (1100) according to an embodiment of the present invention may include the geophysical and drilling exploration robot (1000) and an integrated control device (500) located at the sea surface and connected to the geophysical and drilling exploration robot (1000) by wire or wirelessly to control and monitor the geophysical exploration and drilling exploration operations of the geophysical and drilling exploration robot (1000).

[0252] The integrated control device (500) can be located on a ship or drilling facility located on the sea surface, and can be connected to a geophysical and drilling exploration robot (1000) by wire and / or wirelessly to control and monitor in real time the geophysical exploration and drilling exploration work performed by the geophysical and drilling exploration robot (1000) on the seabed, and can be configured to analyze data transmitted from the seabed by the geophysical and drilling exploration robot (1000) through the geophysical exploration and drilling exploration work.

[0253] In addition, the sound wave transmitter (243) transmits an acoustic signal for positioning the geophysical and drilling exploration robot (1000) to the integrated control device (500), and the integrated control device (500) can receive this acoustic signal to determine the position of the geophysical and drilling exploration robot (1000) on the seabed. To this end, as illustrated in FIG. 10, an acoustic installation stand (241) to which the sound wave transmitter (243) is attached can be installed on the upper part of the geophysical and drilling exploration robot (1000), so that the sound wave transmitter (243) can be configured to transmit an acoustic signal in the direction of the sea surface without being affected by obstacles.

[0254] Additionally, although not depicted in the drawing, the integrated control device (500) may also implement a function to visualize data transmitted from the seabed by the geophysical and drilling exploration robot (1000) during geophysical exploration and drilling operations. Through this, the geophysical and drilling exploration robot (1000) can detect various risks it may face on the seabed and respond appropriately, thereby maximizing the efficiency of geophysical exploration and drilling operations.

[0255]

[0256] Above, although various preferred embodiments of the present invention have been described with some examples, the description of various embodiments described in the “Specific Details for Carrying Out the Invention” section is merely exemplary, and those skilled in the art to which the present invention pertains will readily understand that they can carry out various modifications of the present invention or carry out equivalent implementations of the present invention based on the above description.

[0257] In addition, since the present invention can be implemented in various other forms, the present invention is not limited by the above description, and the above description is provided only to make the disclosure of the present invention complete and to fully inform a person having ordinary skill in the art to which the present invention belongs of the scope of the present invention, and it should be understood that the present invention is defined only by each claim of the claims.

[0258]

[0259] [Explanation of symbols]

[0260] 1000: Geophysical and Drilling Exploration Robot

[0261] 100: Rough terrain unmanned driving platform

[0262] 110: Driving section

[0263] 113: Track section

[0264] 115: Posture adjustment unit

[0265] 115a: Link mechanism section

[0266] 115b: Actuator section

[0267] 120: Platform

[0268] 200: Geophysical Exploration Device

[0269] 203: Cable

[0270] 203a: Outer shell

[0271] 203b: Rope

[0272] 205: Winding part

[0273] 207: Heavyweight

[0274] 210: Electrical Exploration Department

[0275] 215: Electrode

[0276] 215a: Fastening part

[0277] 220: Electromagnetic Exploration Department

[0278] 221: Support frame

[0279] 223: Electromagnetic Transmitter

[0280] 225: Electromagnetic receiver

[0281] 230: Seismic Exploration Department

[0282] 233: Elastic wave transmitter

[0283] 234: Elastic wave drill

[0284] 235: Elastic wave receiver

[0285] 235a: Fixed part

[0286] 240: Positioning unit

[0287] 241: Sound installation stand

[0288] 243: Sound wave transmitter

[0289] 245: Sound wave receiver

[0290] 250: Communications Department

[0291] 260: Cable sensor section

[0292] 300: Drilling Exploration Department

[0293] 310: Coring body

[0294] 320: Core Barrel

[0295] 330: Core Beat

[0296] 400: Unmanned Submarine

[0297] 500: Integrated control unit

[0298] 1100: Geophysical and Drilling Exploration System

Claims

1. A geophysical exploration device mounted on a robot capable of performing geophysical exploration and drilling exploration on the seabed remotely and / or unmanned. An electrical exploration unit that measures the electrical resistivity of the seabed by injecting current into the layer through multiple electrodes spaced apart from each other on a cable laid on the seabed; An electromagnetic exploration unit that analyzes the electromagnetic characteristics of the seabed through an electromagnetic transmitter installed on the robot to generate an electromagnetic field and an electromagnetic receiver installed on the cable to receive the generated electromagnetic field; and A seismic exploration unit that analyzes the structure of the seabed by receiving elastic waves generated by the robot when performing drilling work or elastic waves generated by a separate elastic wave transmitter by an elastic wave receiver disposed on the cable; characterized in that it includes; Geophysical exploration equipment.

2. In paragraph 1, The above plurality of electrodes are arranged at regular intervals on the cable, and are characterized in that they perform both a transmitting function for injecting current for electrical exploration into the ground and a receiving function for receiving the current. Geophysical exploration equipment.

3. In paragraph 1, A weight is attached to one end of the above cable, The electromagnetic receiver is characterized in that it is mounted on the weight body. Geophysical exploration equipment.

4. In paragraph 1, The above cable is surrounded by an outer sheath that protects the interior of the above cable, The cable is characterized in that a rope is provided inside the cable to form a closed loop. Geophysical exploration equipment.

5. In paragraph 4, The above outer shell is characterized in that it is formed of a polymer resin material that is non-conductive and has a density equal to or lower than that of water. Geophysical exploration equipment.

6. In paragraph 4, The internal space of the above cable is characterized in that it is filled with a liquid that is non-conductive and has a density equal to or lower than that of water. Geophysical exploration equipment.

7. In paragraph 1, A support frame is mounted on one side of the above robot, The lower part of the above-mentioned support frame is characterized in that a drum-shaped winding part for winding the cable is mounted. Geophysical exploration equipment.

8. In paragraph 7, Characterized in that the electromagnetic transmitter is mounted on one end of the above-mentioned support frame. Geophysical exploration equipment.

9. In paragraph 7, The above-mentioned mounting frame is characterized in that it is formed of a non-conductive material to prevent electromagnetic interference. Geophysical exploration equipment.

10. In paragraph 1, The above elastic wave transmitting unit is characterized by including an elastic wave drill that generates vibration by drilling the seabed. Geophysical exploration equipment.

11. In paragraph 1, The above elastic wave receiving unit is characterized in that a plurality of them are provided and are spaced apart from each other at regular intervals on the cable. Geophysical exploration equipment.

12. In paragraph 2, Each of the above plurality of electrodes is exposed to the outside without being surrounded by an outer covering protecting the inside of the cable, The outer diameter of each of the plurality of electrodes is characterized by being the same as the outer diameter of the outer sheath protecting the inside of the cable. Geophysical exploration equipment.

13. In paragraph 2, Each of the above plurality of electrodes, Characterized in that it forms a closed loop by being connected to a rope provided inside the above cable. Geophysical exploration equipment.

14. In paragraph 13, Each of the plurality of electrodes is characterized in that it has a fastening part for connection with the rope. Geophysical exploration equipment.

15. In paragraph 11, Each of the above plurality of elastic wave receivers, Characterized in that it forms a closed loop by being connected to a rope provided inside the above cable. Geophysical exploration equipment.

16. In paragraph 15, Each of the plurality of elastic wave receivers is characterized in that it is fitted with a plurality of fixing parts configured to be fixed to the rope. Geophysical exploration equipment.

17. A rough terrain unmanned driving platform capable of driving on rough terrain on the seabed; A drilling exploration unit installed on one side of the driving direction of the above-mentioned rough terrain unmanned driving platform to collect samples from the seabed; and A geophysical exploration department that conducts geophysical exploration on the seabed; including: The above geophysical exploration department, An electrical exploration unit that measures the electrical resistivity of the seabed by injecting current into the layer through multiple electrodes spaced apart from each other on a cable laid on the seabed; An electromagnetic exploration unit that analyzes the electromagnetic characteristics of the seabed through an electromagnetic transmitter installed on the above-mentioned unmanned driving platform to generate an electromagnetic field and an electromagnetic receiver installed on the above-mentioned cable to receive the generated electromagnetic field; and A seismic exploration unit that analyzes the structure of the seabed by receiving elastic waves generated by the above-mentioned drilling exploration unit or elastic waves generated by a separate elastic wave transmitter by the elastic wave receiver disposed on the cable; characterized in that it includes; Geophysical and drilling exploration robots.

18. In paragraph 17, The above drilling exploration unit, A core bit that cuts or crushes rock or soil from the seabed to form a core sample; A core barrel for collecting the formed core sample; and A coring body comprising: a core barrel supporting and rotating the core barrel and providing power required for drilling; Geophysical and drilling exploration robots.

19. In paragraph 17, characterized by further including an unmanned submersible for auxiliary geophysical exploration, Geophysical and drilling exploration robots.

20. Geophysical and drilling exploration robots according to Article 17; and It is characterized by including an integrated control device located at the sea surface and connected to the geophysical and drilling exploration robot by wire or wirelessly, and controlling and monitoring the geophysical exploration and drilling exploration operations of the geophysical and drilling exploration robot. Geophysical and drilling exploration systems.

21. A rough terrain unmanned driving platform capable of driving on rough terrain on the seabed; Geophysical exploration department that conducts geophysical exploration on the seabed; and A drilling exploration unit is provided on one side of the driving direction of the above-mentioned rough terrain unmanned driving platform and performs sample collection on the seabed; including, The above rough terrain unmanned driving platform, the geophysical exploration unit and the drilling exploration unit are characterized by being configured as an integrated unit. Geophysical and drilling exploration robots.

22. In paragraph 21, The above rough terrain unmanned driving platform is, A driving unit including an attitude adjustment unit for stabilizing driving on the seabed and a plurality of track units capable of moving the rough terrain unmanned driving platform; and A platform including a basic device such as a recovery device, an energy supply device, a communication and control module, etc., mounted on the upper part of the above-mentioned driving unit, and a structural frame that additionally physically connects and mounts a geophysical exploration unit and a drilling exploration unit to the basic device; characterized in that it includes; Geophysical and drilling exploration robots.

23. In paragraph 22, The above posture adjustment unit is, A link mechanism comprising a plurality of links and provided between the lower part of the platform and the track section; and characterized in that it includes an actuator part that moves the platform by giving movement to the link mechanism part; Geophysical and drilling exploration robots.

24. In paragraph 22, One side of the above platform is equipped with a drum-shaped winding section in which a cable is wound, Characterized in that one end of the above cable has a weight attached to it, Geophysical and drilling exploration robots.

25. In paragraph 21, The above drilling exploration unit, A core bit that cuts or crushes rock or soil from the seabed to form a core sample; A core barrel for collecting the formed core sample; and A coring body comprising: a core barrel supporting and rotating the core barrel and providing power required for drilling; Geophysical and drilling exploration robots.

26. In paragraph 24, The above geophysical exploration department, Electrical exploration department that conducts electrical exploration; The electromagnetic exploration department that conducts electromagnetic exploration; A seismic exploration department that performs seismic exploration; and A positioning unit that transmits and receives sound waves to determine the position of the cable; characterized in that it includes at least one of the following: Geophysical and drilling exploration robots.

27. In paragraph 26, The above electrical exploration department, It includes a plurality of electrodes that perform both electrical exploration transmission and electrical exploration reception, The above plurality of electrodes are characterized in that they are arranged spaced apart from each other on the cable. Geophysical and drilling exploration robots.

28. In paragraph 26, The above electromagnetic exploration unit, characterized by including an electromagnetic transmitter mounted on the platform; and an electromagnetic receiver located on the weight body; Geophysical and drilling exploration robots.

29. A rough terrain unmanned driving platform capable of driving on rough terrain on the seabed, comprising a driving unit that drives along the seabed and a platform that includes basic devices such as a recovery device, an energy supply device, a communication and control module, and a structural frame that additionally physically connects and mounts a geophysical exploration unit and a drilling exploration unit to the basic devices; Geophysical exploration department that conducts geophysical exploration on the seabed; and A drilling exploration unit is provided on one side of the driving direction of the above-mentioned rough terrain unmanned driving platform and performs sample collection on the seabed; including; The above rough terrain unmanned driving platform, the geophysical exploration unit and the drilling exploration unit are configured as an integrated unit. The above platform is characterized by being equipped with an unmanned submersible for auxiliary geophysical exploration. Geophysical and drilling exploration robots.

30. A geophysical and drilling exploration robot comprising a rough terrain unmanned driving platform capable of driving on a rough terrain on the seabed, a geophysical exploration unit for performing geophysical exploration on the seabed, and a drilling exploration unit provided on one side of the driving direction of the rough terrain unmanned driving platform for performing sample collection on the seabed, wherein the rough terrain unmanned driving platform, the geophysical exploration unit, and the drilling exploration unit are configured as an integrated unit; and An integrated control device located at the sea surface and connected to the geophysical and drilling exploration robot by wire or wirelessly, and controlling and monitoring the geophysical exploration and drilling exploration operations of the geophysical and drilling exploration robot; characterized in that it includes; Geophysical and drilling exploration systems.

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