Drilling exploration system based on traveling platform

Abstract

The purpose of the present invention for solving the conventional problems as described above is to provide a drilling exploration system wherein, in a case of deep drilling, a magazine is supplied to and recovered from a drilling exploration robot through a separate magazine robot, the drilling exploration robot having a drilling device mounted on a traveling device, thereby minimizing the size of the drilling exploration robot and enabling continuous drilling regardless of a state of the magazine. To achieve the purpose, the drilling exploration system according to the present invention comprises: at least one drilling exploration robot configured to perform a drilling exploration operation on a seabed; and a magazine robot configured to receive a magazine having an inner barrel containing a sampled specimen from the drilling exploration robot and to provide a magazine having an empty inner barrel or a rod stored therein to the drilling exploration robot.

Description

Driving platform-based drilling exploration system

[0001] The present invention relates to a drilling exploration system, and more specifically, to a driving platform-based drilling exploration system capable of performing drilling exploration operations remotely and / or unmannedly based on a driving platform on a seabed inaccessible to humans, by supplying and retrieving a magazine for drilling exploration operations through a separate magazine robot, thereby minimizing the size of the drilling exploration robot, reducing costs, and enabling continuous drilling regardless of the conditions within the magazine.

[0002]

[0003] In response to the global climate change crisis, countries in the international community are declaring carbon neutrality and accelerating the development of future eco-friendly industries. In conjunction with these international eco-friendly issues, decarbonization and digitalization are accelerating, leading to the activation of advanced industries such as secondary batteries, eco-friendly fuel-based propulsion systems, and robots.

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

[0005] Among the measures for the supply and demand of non-ferrous metals to overcome this, deep-sea mineral resources in the high seas, which are under the jurisdiction of the UN-affiliated ISA (International Seabed Authority), contain a significant portion of non-ferrous metals essential for future high-tech industries, so it is necessary to secure a stable supply of essential non-ferrous metal resources through future mining and extraction.

[0006] For the commercial mining of these essential non-ferrous metal resources, geophysical exploration is crucial to determine the detailed reserves (scale and grade) of secured, wide-area 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] Generally, sonar exploration refers to the exploration of seafloor depths or shallow strata using high-frequency sound sources (kHz or higher), while seismic exploration refers to the exploration of deep strata using low-frequency sound sources (1–100 Hz); however, geophysical exploration utilizes seismic exploration using low frequencies.

[0009] In the case of electrical exploration, it consists of a part that acts as a transmitter to send current to positive / negative electrodes and a part that acts as a receiver to measure the voltage formed on other positive / negative electrodes by the applied current. The resolution and depth of the electrical resistivity measurement of the seabed are determined by the arrangement of these transmitting and receiving electrodes.

[0010] In the case of electromagnetic exploration, transmitters and receivers are installed on the main unit and cable. The transmitter generates an electromagnetic field, and the receiver measures the electromagnetic field produced by the current induced in anomalies beneath the seabed. In this bistatic method, where the transmitter and receiver are spaced apart, excellent resolution and measurement capabilities extending to deep depths are possible.

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

[0012] For such geophysical exploration, the transmitters and receivers of each exploration device must be positioned while maintaining an appropriate separation distance; however, since it is impossible for humans to perform various tasks, including the placement of these transmitters and receivers, on the seabed, it is necessary to conduct geophysical exploration using robots.

[0013] Since robots are utilized because humans cannot work directly on the seabed, the exploration process must be minimized. However, because various geophysical exploration methods must all be applied due to the need to synthesize and judge the results of various explorations during seabed ground exploration, the exploration process becomes extensive and time-consuming. If the exploration takes a long time, it is very disadvantageous for offshore operations that must cope with sudden weather changes.

[0014] The aforementioned geophysical exploration methods, such as electrical, electromagnetic, and seismic exploration, share the commonality of requiring a gap between transmitters and receivers for high resolution and observation depth; however, they have the disadvantage of requiring similar repetition of the process of widening the gap.

[0015] Furthermore, analysis of mining volume to determine the quantity and grade of deep-sea mineral resources is a key element in assessing business feasibility through resource development. While core sampling drilling exploration is essential alongside high-precision geophysical exploration for accurate reserve estimation, there was a problem in that the rental costs for existing drilling vessels were very high due to the deep water depths when conducting exploration using conventional vessels.

[0016] To address this, a seabed-mounted drilling exploration device equipped with automated unmanned drilling equipment has been developed; however, there is a problem in that it takes a long time for the drilling exploration device to accurately settle on the seabed due to the influence of vessel motion caused by deep water depths and the marine environment.

[0017] In addition, conventionally, when performing deep seabed drilling exploration using a drilling exploration robot, only one magazine, which is a device for storing drilling pipes (usually provided in multiples of about 5 to 20) such as core barrels, rods, and inner barrels (samples) required for drilling exploration, was attached to one drilling exploration robot and used; however, there is a problem that drilling exploration of the ground (deep) below the deep seabed is impossible with only one magazine.

[0018] When multiple or large magazines are attached to a drilling exploration robot for deep exploration, the weight and size of the robot increase, necessitating large equipment (large vessels, large LARS equipment, etc.), which leads to a problem of increased costs.

[0019] In addition, when the inner barrel and rod in the magazine of the onboard drilling exploration robot are used up for drilling and there is no longer any place to store the inner barrel filled with samples that are needed or recovered, the drilling exploration robot must be retrieved from the seabed to the ship, which has the disadvantage of increasing operating costs and making it vulnerable to changes in the marine environment as drilling is suspended for a long period.

[0020] Accordingly, in order to reduce costs, maximize exploration efficiency, and reduce the risk of environmental change, it is necessary to simultaneously develop an exploration robot that can perform drilling and geophysical exploration work at a relatively low cost while improving mobility by mounting an automated unmanned drilling rig on a rough terrain driving platform rather than a bottom-mounted one, and a magazine robot that can supply and retrieve magazines to the exploration robot by mounting multiple magazines.

[0021]

[0022] The objective of the present invention, which aims to solve the aforementioned conventional problems, is to provide a drilling exploration system that minimizes the size of a drilling exploration robot equipped with drilling equipment on a driving device by supplying and retrieving a magazine through a separate magazine robot in the case of deep drilling, and enables continuous drilling without interruption of the operation, thereby reducing costs by shortening the overall operation time and reducing the risk of operation interruption due to changes in the marine environment.

[0023]

[0024] To achieve the above objective, the drilling exploration system according to the present invention is characterized by comprising: at least one drilling exploration robot that performs a drilling exploration operation on the seabed; and a magazine robot that receives a magazine having an inner barrel from which a sample is sampled from the drilling exploration robot.

[0025] And, to achieve the above objective, the drilling exploration system according to the present invention is characterized by comprising: at least one drilling exploration robot that performs a drilling exploration operation on the seabed; and a magazine robot that receives a magazine having an inner barrel in which a sample has been sampled from the drilling exploration robot and provides a magazine having an empty inner barrel or a rod that is stored to the drilling exploration robot.

[0026] In addition, in the drilling exploration system according to the present invention, when the drilling exploration operation of the drilling exploration robot is completed, the magazine robot delivers an empty magazine having no inner barrel or rod to the drilling exploration robot, the drilling exploration robot fills the empty magazine with rods recovered from the drilling exploration operation, and then the magazine robot retrieves the magazine filled with rods recovered from the drilling exploration operation.

[0027] In addition, the drilling exploration system according to the present invention is characterized in that the magazine robot comprises: a robot arm for transporting the magazine; and a magazine storage box configured to load a plurality of the magazines.

[0028] In addition, in the drilling exploration system according to the present invention, the robot arm is characterized by being capable of multi-degree-of-freedom rotation and linear movement.

[0029] In addition, the drilling exploration system according to the present invention is characterized in that an up-and-down movement device is attached to one side of the drilling exploration robot, and a coring body that provides power necessary for drilling exploration work is connected to the up-and-down movement device and moves up and down.

[0030] In addition, in the drilling exploration system according to the present invention, the magazine is characterized by including a plurality of inner barrels, a plurality of rods, or a mixture of a plurality of inner barrels and rods.

[0031] In addition, in the drilling exploration system according to the present invention, the drilling exploration robot is characterized by having one magazine including the plurality of inner barrels and one magazine including the plurality of rods, respectively.

[0032] In addition, in the drilling exploration system according to the present invention, the drilling exploration robot is characterized by having two magazines that include a mixture of the plurality of inner barrels and rods.

[0033] In addition, the drilling exploration system according to the present invention is characterized in that the drilling exploration robot comprises a rotating device that rotates the magazine to sequentially feed an inner barrel or rod contained in the magazine into the drilling exploration operation.

[0034] In addition, the drilling exploration system according to the present invention is characterized in that the upper portions of each of the at least one drilling exploration robot and the magazine robot are equipped with a communication unit configured to simultaneously transmit power, data, fluid, and signals by being connected to an integrated control device.

[0035] And, to achieve the above objective, the drilling exploration method according to the present invention is characterized by comprising: a step in which at least one drilling exploration robot performs a drilling exploration operation on the seabed; and a step in which a magazine robot receives and stores a magazine having an inner barrel from which a sample has been sampled from the drilling exploration robot.

[0036] And, to achieve the above objective, the drilling exploration method according to the present invention is characterized by comprising: a step in which a magazine robot stores a plurality of magazines having empty inner barrels or rods; a step in which the magazine robot delivers and installs the magazines having empty inner barrels or rods to at least one drilling exploration robot; and a step in which at least one drilling exploration robot performs a drilling exploration operation on the seabed.

[0037] In addition, in the drilling exploration method according to the present invention, when the drilling exploration operation of the drilling exploration robot is terminated, the magazine robot delivers an empty magazine having no inner barrel or rod to the drilling exploration robot, the drilling exploration robot fills the empty magazine with rods recovered from the drilling exploration operation, and then the magazine robot retrieves the magazine filled with rods recovered from the drilling exploration operation.

[0038] In addition, in the drilling exploration method according to the present invention, the magazine robot is characterized by comprising: a robot arm for transporting the magazine; and a magazine storage box configured to load a plurality of the magazines.

[0039] In addition, in the drilling exploration method according to the present invention, the robot arm is characterized by being capable of multi-degree-of-freedom rotation and linear movement.

[0040] In addition, the drilling exploration method according to the present invention is characterized in that an up-and-down movement device is attached to one side of the drilling exploration robot, and a coring body that provides power necessary for the drilling exploration operation is connected to the up-and-down movement device and configured to move up and down.

[0041] In addition, in the drilling exploration method according to the present invention, the magazine is characterized by including a plurality of inner barrels, a plurality of rods, or a mixture of a plurality of inner barrels and rods.

[0042] In addition, in the drilling exploration method according to the present invention, the drilling exploration robot is characterized by having one magazine including the plurality of inner barrels and one magazine including the plurality of rods, respectively.

[0043] In addition, in the drilling exploration method according to the present invention, the drilling exploration robot is characterized by having two magazines containing a mixture of the plurality of inner barrels and rods.

[0044] In addition, in the drilling exploration method according to the present invention, the drilling exploration robot is characterized by including a rotating device that rotates the magazine to sequentially feed an inner barrel or rod contained in the magazine into the drilling exploration operation.

[0045] In addition, the drilling exploration method according to the present invention is characterized in that the upper portions of each of the at least one drilling exploration robot and the magazine robot are equipped with a communication unit configured to be connected to an integrated control device and capable of simultaneously transmitting power, data, fluid, and signals.

[0046]

[0047] Specific details of other embodiments are included in "Specific details for implementing the invention" and the attached "drawings".

[0048] The advantages and / or features of the present invention and the methods for achieving them will become clear by referring to the various embodiments described in detail below together with the accompanying drawings.

[0049] However, it should be understood that the present invention is not limited to the configurations of each embodiment disclosed below, but may be implemented in various different forms, and that each embodiment disclosed in this specification is provided merely to make the disclosure of the present invention complete and to fully inform those skilled in the art of the scope of the present invention, and that the present invention is defined only by the scope of each claim of the claims.

[0050]

[0051] The present invention has the advantage of minimizing the size of a drilling exploration robot equipped with drilling equipment on a driving device and reducing costs by supplying and retrieving a magazine from a separate external magazine robot in the case of deep drilling.

[0052] In addition, according to the present invention, even when the inner barrel and rod in the magazine of the mounted drilling exploration robot have all been used for drilling and there is no longer any place to store the inner barrel filled with additional or recovered samples, continuous supply and recovery of the inner barrel and rod is possible through the magazine robot without the need to retrieve the drilling exploration robot from the seabed to the ship. Therefore, continuous drilling is possible without interruption of drilling operations, which can reduce costs by shortening the total work time and reduce the risk of work interruption due to changes in the marine environment.

[0053] In addition, according to the present invention, geophysical exploration operations such as electrical exploration, electromagnetic exploration, and seismic exploration are integrated into a single cable system, thereby reducing repetitive deployment of exploration operations and enabling complex exploration operations to be performed with a single installation, which shortens work time and allows for cost reduction.

[0054] In addition, according to the present invention, electromagnetic interference is blocked by maintaining an appropriate distance between the electromagnetic transmitter and the robot body, thereby minimizing signal interference from other exploration equipment and enabling the collection of accurate exploration data.

[0055] In addition, according to the present invention, a plurality of electrodes, an electromagnetic receiver, an elastic wave receiver, etc. are arranged at regular intervals on a submarine cable, so that the 3D structure of the seabed strata can be reconstructed with precision and high resolution, thereby making a significant contribution to more accurately determining the location, size, density, etc. of resources.

[0056] In addition, according to the present invention, by utilizing the similarity between exploration techniques to simultaneously perform multiple exploration techniques in a single system, work efficiency is maximized, and more accurate data can be obtained through the complementarity of the exploration techniques.

[0057] In addition, according to the present invention, geophysical exploration and drilling exploration can be performed integrally in a single system, thereby reducing the cost and time required for exploration.

[0058] 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 and drilling operations can be performed simultaneously, thereby drastically reducing exploration time and costs.

[0059] In addition, according to the present invention, cables can be laid and retrieved quickly and accurately on the seabed using an unmanned submersible, thereby reducing the total work time, and cable damage can be prevented as the cable is retrieved regardless of terrain conditions.

[0060] 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. This enables rapid decision-making by transmitting and analyzing data in real time, and allows for the real-time identification and immediate response to problems that may occur during the operation, thereby increasing the stability and efficiency of the operation.

[0061]

[0062] FIGS. 1 and 2 are drawings illustrating the exchange of magazines between a magazine robot and a drilling exploration robot in a drilling exploration system according to an embodiment of the present invention.

[0063] FIGS. 3 to 5 are flowcharts illustrating a drilling exploration method according to an embodiment of the present invention.

[0064] FIGS. 6 to 8 are drawings illustrating the process of operation of a magazine robot and a drilling exploration robot in a drilling exploration system according to an embodiment of the present invention.

[0065] FIG. 9 is a perspective view illustrating the configuration of a drilling exploration device mounted on a drilling exploration robot according to an embodiment of the present invention.

[0066] FIG. 10 is a perspective view illustrating, in an exemplary manner, the configuration of a magazine mounted on a drilling exploration device according to an embodiment of the present invention.

[0067] FIG. 11 is a diagram illustrating a geophysical exploration device and a drilling exploration device mounted on a drilling exploration robot according to an embodiment of the present invention performing geophysical exploration and drilling exploration on the seabed.

[0068] FIG. 12 is a side view of a drilling exploration robot according to an embodiment of the present invention.

[0069] FIG. 13 is a perspective view illustrating the configuration of a geophysical exploration device and a drilling exploration device mounted on a drilling exploration robot according to an embodiment of the present invention.

[0070] FIG. 14 is a perspective view illustrating the internal configuration of a cable of a geophysical exploration device according to an embodiment of the present invention.

[0071] FIG. 15 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.

[0072] FIG. 16 is a functional block diagram showing the functional configuration of a geophysical exploration device according to an embodiment of the present invention.

[0073] FIG. 17 is a perspective view showing the configuration of a geophysical exploration device and a drilling exploration device mounted on a drilling exploration robot according to an embodiment of the present invention, from the perspective of the drilling exploration device.

[0074] FIG. 18 is a perspective view showing the configuration of a geophysical exploration device and a drilling exploration device mounted on a drilling exploration robot according to an embodiment of the present invention, from the cable and winding part side.

[0075] FIG. 19 is a conceptual diagram illustrating a configuration in which a drilling exploration robot and a magazine robot are operated together with an unmanned submersible and an integrated control device in a drilling exploration system according to an embodiment of the present invention.

[0076]

[0077] A drilling exploration system according to one embodiment of the present invention is characterized by comprising: at least one drilling exploration robot that performs a drilling exploration operation on the seabed; and a magazine robot that receives a magazine having an inner barrel from which a sample is sampled from the drilling exploration robot.

[0078]

[0079] Before describing the present invention in detail, it should be understood that the terms and words used in this specification should not be interpreted as being limited to their ordinary or dictionary meanings, and that the inventor of the present invention may appropriately define and use the concepts of various terms to best describe their invention, and furthermore, that these terms and words should be interpreted in a meaning and concept consistent with the technical spirit of the present invention.

[0080] In other words, it should be understood that the terms used in this specification are used merely to describe preferred embodiments of the present invention and are not intended to specifically limit the content of the present invention, and that these terms are defined in consideration of various possibilities of the present invention.

[0081] In addition, it should be noted that in this specification, singular expressions may include plural expressions unless the context clearly indicates a different meaning, and that even if they are expressed in a similarly plural form, they may include a singular meaning.

[0082] Throughout this specification, where it is stated that a component "includes" another component, unless specifically stated otherwise, this may mean that any other component is not excluded but may additionally include any other component.

[0083] Furthermore, it should be noted that in cases where it is stated that a certain component "exists inside or is installed in connection with" another component, this component may be installed in direct connection or contact with the other component, or it may be installed at a certain distance apart; in the case where it is installed at a certain distance apart, a third component or means for fixing or connecting the component to the other component may exist, and a description of this third component or means may be omitted.

[0084] On the other hand, if it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that a third component or means does not exist.

[0085] Likewise, other expressions describing the relationship between each component, such as “between” and “right between”, or “adjacent to” and “directly adjacent to”, should be interpreted as having the same intent.

[0086] In addition, it should be understood that in this specification, terms such as "one side," "other side," "one side," "other side," "first," and "second," if used, are intended to clearly distinguish one component from another component, and that the meaning of the component is not restricted by such terms.

[0087] In addition, position-related terms such as "up," "down," "left," and "right" used in this specification should be understood as indicating the relative position of the corresponding component in the drawing, and unless an absolute position is specified, these position-related terms should not be understood as referring to an absolute position.

[0088] Furthermore, in specifying the reference numerals for each component of each drawing in this specification, the same component is given the same reference numeral even if it is shown in different drawings; that is, the same reference numeral throughout the specification indicates the same component.

[0089] In the drawings attached to this specification, the size, position, connection relationships, etc., of each component constituting the present invention may be described in a partially exaggerated, reduced, or omitted manner for the convenience of explanation or to sufficiently clearly convey the concept of the present invention, and therefore, the proportions or scale may not be strictly accurate.

[0090] In addition, in the following description of the present invention, detailed descriptions of components, such as prior art and known technology, that are deemed to unnecessarily obscure the essence of the present invention may be omitted.

[0091]

[0092] Preferred embodiments of the present invention will be described in detail below with reference to the drawings.

[0093] FIGS. 1 and 2 are drawings illustrating the exchange of a magazine robot (1500) and a drilling exploration robot (1000) with a magazine (350) in a drilling exploration system (2000) according to an embodiment of the present invention.

[0094] A drilling exploration system according to an embodiment of the present invention may include at least one drilling exploration robot (1000) that performs drilling exploration work on the seabed and a magazine robot (1500) capable of storing and transporting a magazine (350) having an inner barrel (321) or a rod (322).

[0095] The drilling exploration robot (1000) is a robot that performs the role of sampling samples from a seabed mineral resource mine, and may be an exploration robot equipped with automated drilling equipment on a platform based on a driving device.

[0096] The magazine (350) is a device for storing drilling pipes (usually 5 to 20 in number), such as core barrels, rods, and inner barrels (where samples are stored), which are necessary for drilling exploration. There may be a revolve type in which the magazine (350) rotates to supply drilling pipes (320) and a box type in which it supplies them horizontally.

[0097] The inner barrel (321) is a pipe that holds samples collected from the drilling exploration, and several of them can be connected in a straight line.

[0098] The rod (322) transmits rotational force generated from the drill head (340) attached to the drilling exploration robot (1000) to the core barrel (323). It can be a pipe that can be connected in a straight line and facilitates the transmission of rotational force, and may have a simple shape with a hollow interior.

[0099] The core barrel (323) is a cylindrical device for collecting and protecting core samples and may include components such as an inner barrel, an outer barrel, a drill bit, and a core catcher. Generally, one may be installed in a magazine (350), and when a drilling sample is filled in the inner barrel (321), it may be lifted to the ground and stored in the magazine (350).

[0100] The drilling pipe (320) is a general term for the entire pipe, including the core barrel (323), rod (322), and inner barrel (321), which are attached to and detached within the magazine (350).

[0101] The magazine robot (1500) is a robot that receives and stores a magazine (350) filled with inner barrels (321) from which samples have been sampled in the drilling exploration robot (1000), or fills the drilling exploration robot with a magazine (350) composed of a core barrel (323), a load (322), an empty inner barrel (321), etc.

[0102] In a drilling exploration system according to an embodiment of the present invention, a magazine robot (1500) may receive and store a magazine (350) having an inner barrel (321) from one or more drilling exploration robots (1000), or deliver and install a magazine (350) having an empty inner barrel (321) or a rod (322) to at least one drilling exploration robot (1000).

[0103] When the drilling exploration work of the drilling exploration robot (1000) is finished, the magazine robot (1500) delivers an empty magazine (350) that has no inner barrel (321) or rod (322) to the drilling exploration robot (1000), and the drilling exploration robot (1500) can fill the empty magazine (350) with rods (322) recovered from the drilling exploration work.

[0104] Next, the magazine robot (1500) can retrieve the magazine (350) filled with rods (322) recovered from the above drilling exploration operation. In this way, all empty rods (322) that have completed the drilling exploration operation can be retrieved and recycled.

[0105] The operation process of these drilling exploration robots (1000) and magazine robots (1500) is illustrated in FIGS. 3 to 5.

[0106] Referring to FIG. 3, a drilling exploration method according to an embodiment of the present invention may include the step (S100) in which at least one drilling exploration robot (1000) performs a drilling exploration operation on the seabed; and the step (S200) in which a magazine robot (1500) receives and stores a magazine (350) having an inner barrel (321) from which a sample has been sampled from the drilling exploration robot (1000).

[0107] Additionally, referring to FIG. 4, a drilling exploration method according to an embodiment of the present invention may include the step (S1000) of a magazine robot (1500) storing a plurality of magazines (350) having empty inner barrels (321) or rods (322); the step (S2000) of the magazine robot (1500) delivering and installing the magazines (350) having empty inner barrels (321) or rods (322) to at least one drilling exploration robot (1000); and the step (S3000) of at least one drilling exploration robot (1000) performing a drilling exploration operation on the seabed.

[0108] Additionally, referring to FIG. 5, in an embodiment of the present invention, when the drilling exploration work of the drilling exploration robot (1000) is completed, the magazine robot delivers an empty magazine (350) that has no inner barrel or rod at all to the drilling exploration robot (1000) (S5000), the drilling exploration robot fills the empty magazine (350) with rods (322) recovered from the drilling exploration work (S6000), and then the magazine robot (1500) can recover the magazine (350) filled with rods (322) recovered from the drilling exploration work (S7000). In this way, the magazine robot (1500) can recover all the empty rods (322) that have completed the drilling exploration work from the drilling exploration robot (1000) and recycle them.

[0109] In an embodiment of the present invention, the magazine robot (1500) may include a robot arm (1520) for transporting the magazine (350); and a magazine storage box (1510) configured to load a plurality of the magazines (350).

[0110] Additionally, the robot arm (1520) may be equipped with multi-degree-of-freedom rotation and linear movement functions so as to be able to move the magazine (350) from the drilling exploration robot (1000) to the magazine storage box (1510) or move the magazine (350) from the magazine storage box (1510) to the drilling exploration robot (1000).

[0111] Additionally, an up-and-down movement device (370) is attached to one side of the above-mentioned drilling exploration robot (1000), and a coring body (310) that provides power necessary for drilling exploration work may be configured to move up and down by being connected to the up-and-down movement device (370).

[0112] In an embodiment of the present invention, the magazine (350) may include a plurality of inner barrels (321), a plurality of rods (322), or a combination of a plurality of inner barrels (321) and rods (322).

[0113] FIG. 10 is a perspective view illustrating, in an exemplary manner, the configuration of a magazine (350) mounted on a drilling exploration device (300) according to an embodiment of the present invention.

[0114] As illustrated in FIG. 10, the drilling exploration robot (1000) according to an embodiment of the present invention can each carry one magazine (351) including the plurality of inner barrels (321) and one magazine (352) including the plurality of rods (322).

[0115] Here, the magazine (351) including the plurality of inner barrels (321) may be called the inner barrel magazine (351), and the magazine (352) including the plurality of rods (322) may be called the rod magazine (352).

[0116] Alternatively, the drilling exploration robot (1000) may be equipped with two magazines (350) containing a mixture of multiple inner barrels (321) and rods (322).

[0117] Additionally, the drilling exploration robot (1000) may include a rotating device (380) that rotates the magazine (350, 351, 352) to sequentially feed the inner barrel (321) or rod (322) contained in the magazine (350, 351, 352) into the drilling exploration operation.

[0118] Additionally, the magazine (350) may include a plurality of drilling pipes (320).

[0119] Additionally, the drilling exploration robot (1000) may include a rotating device (380) configured to rotate the magazine (350) to sequentially feed the plurality of drilling pipes (320) into the drilling exploration operation.

[0120] In an embodiment of the present invention, a communication unit (250) configured to simultaneously transmit power, data, fluid, and signals may be mounted on the upper portion of each of the at least one drilling exploration robot (1000) and the magazine robot (1500), connected to an integrated control device to be described later.

[0121] In an embodiment of the present invention, the communication unit (250) may be an umbilical cable, which is a multi-purpose cable designed to simultaneously transmit power, data, fluid (gas or liquid), and / or signals. Such an umbilical cable is a composite cable with multi-functionality, characterized in that it can integrally provide power, data / signal transmission, and fluid supply in a single system. It plays a very important role in marine operations and deep-sea environments and can provide stability and durability even in extreme environments.

[0122] Hereinafter, with reference to FIGS. 6 to 8, the process of operation of the magazine robot (1500) and the drilling exploration robot (1000) in the drilling exploration system (2000) according to an embodiment of the present invention will be described in detail.

[0123] As illustrated in FIG. 6, in a drilling exploration system (2000) according to an embodiment of the present invention, the magazine robot (1500) and the drilling exploration robot (1000) can operate as follows.

[0124] (1) A magazine robot (1500) that has loaded multiple magazines (350) uses a robot arm (1520) to select and lift one of the loaded magazines (350) in which the inner barrel (321) is empty.

[0125] (2) A robot arm (1520) transports a magazine (350) selected as one of a plurality of drilling robots.

[0126] (3) A robot arm (1520) installs a magazine (350) with an empty inner barrel (321) on a drilling robot, and the drilling robot uses the magazine (350) to perform a drilling exploration operation.

[0127] Alternatively, in a drilling exploration system according to an embodiment of the present invention, the magazine robot (1500) and the drilling exploration robot (1000) may operate in the following order as shown in FIGS. 6 and 7.

[0128] (1) When the drilling exploration robot (1000) performs a drilling exploration operation and the inner barrel (321) of the magazine (350) is filled with a sample, the magazine robot (1500) uses a robot arm (1520) to separate the magazine (350) containing the inner barrel (321) containing the sample from the drilling exploration robot (1000).

[0129] (2) The robot arm (1520) transfers the magazine (350) separated from the drilling exploration robot (1000) to the magazine storage box (1510) for storage.

[0130] (3) The robot arm (1520) selects and lifts one of the magazines (350) in which the inner barrel (321) is empty among the multiple magazines (350) loaded in the magazine storage box (1510).

[0131] (4) A robot arm (1520) transports a magazine (350) with an empty inner barrel (321) to a drilling robot.

[0132] (5) A robot arm (1520) installs a magazine (350) with an empty inner barrel (321) on the drilling robot.

[0133] (6) The drilling robot uses a magazine (350) to perform drilling exploration work.

[0134] The operation process of the magazine robot (1500) and the drilling exploration robot (1000) according to the present invention is not limited to the embodiments described above, and it is obvious that various modifications, changes, and equivalent combinations are possible by those skilled in the art.

[0135] According to an embodiment of the present invention, even when the inner barrel and rod in the magazine of the mounted drilling exploration robot are all used for drilling and there is no longer any place to store the inner barrel filled with additional or recovered samples, continuous supply and recovery of the inner barrel and rod is possible through the magazine robot without recovering the drilling exploration robot from the seabed to the ship. This enables continuous drilling without interruption of drilling operations, thereby reducing costs by shortening the overall operation time and reducing the risk of work interruption due to changes in the marine environment.

[0136] Hereinafter, the configuration of a drilling exploration device (300) mounted on a drilling exploration robot (1000) according to an embodiment of the present invention will be explained with reference to FIG. 9.

[0137] FIG. 9 is a perspective view illustrating the configuration of a drilling exploration device (300) mounted on a drilling exploration robot (1000) according to an embodiment of the present invention.

[0138] 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 in drilling exploration to obtain geological information by collecting continuous samples of underground rocks, soil, and sediments.

[0139] The drilling exploration device (300) according to an embodiment of the present invention is equipment used for such core sampling. The configuration of the drilling exploration device (300) can be divided into a configuration that operates below the ground and a configuration that operates above the ground.

[0140] The configuration of the drilling exploration device (300) operating on the ground may include a coring body (310), an up-and-down moving device (370), a magazine (350) including an inner barrel (321) and a rod (322), a drilling pipe (320), a rotating device (380), a pipe conveying device, a guide, a fixing device, etc.

[0141] The configuration of the drilling exploration device (300) operating below ground may include a core barrel (323), a core bit (324), a rod (322), etc.

[0142] The coring body (310) is a device that provides power necessary for drilling exploration work. An up-and-down movement device (370) may be attached to one side of the drilling exploration robot (1000) according to an embodiment of the present invention, and the coring body (310) may be configured to move up and down by being connected to this up-and-down movement device (370).

[0143] The vertical movement device (370) performs vertical translational movement, and when the drilling exploration robot (1000) is in motion, it can raise the coring body (310) above the driving part (110) and then lower the coring body (310) to the ground only when core drilling.

[0144] The magazine (350) is a device designed to store and sequentially use drill pipes or sample collection tools, and a turret-type or revolve-type magazine may be used.

[0145] The magazine (350) may include multiple drilling pipes (320). Generally, about 5 to 20 drilling pipes (320) are loaded into one magazine (350), and the magazine (350) can rotate to sequentially deploy the drilling pipes (320) into the drilling exploration operation.

[0146] The drilling pipe (320) is a general term for the entire pipe, such as the core barrel (323), rod (322), and inner barrel (321), which are attached to and detached within the magazine (350). The drilling pipe (320) according to an embodiment of the present invention may include a core barrel (323) and a core bit (324).

[0147] In an embodiment of the present invention, the drilling exploration robot (1000) may be equipped with one magazine for the core barrel and one magazine for the rod.

[0148] The inner barrel (321) may be a pipe that holds samples collected from a drilling exploration.

[0149] In an embodiment of the present invention, the drilling exploration robot (1000) may include a rotating device (380) configured to rotate a magazine (350) to sequentially feed a plurality of drilling pipes (320) into the drilling exploration operation.

[0150] The rotating device (380) may be located on the lower or upper side of the part where the magazine (350) is mounted in the core body.

[0151] Alternatively, the rotating device (380) may be included in the magazine (350). The magazine (350) may include a mechanism for securing and / or removing the drilling pipe (320) from the magazine (350).

[0152] The pipe delivery device performs the function of moving a drilling pipe (320) stored in a magazine (350) to a drill head (340), fixing it for connection, and then disassembling it once the connection is completed, and may include a moving device that can rotate at a specific angle and a pipe fixing / disassembling device.

[0153] In an embodiment of the present invention, the magazine (350) and the pipe delivery device can be automated.

[0154] The drill head (340) is connected to the coring body (310) and can perform the function of transmitting rotational force and unloading force to the rod. Here, rotational force refers to the force (torque) required to rotate the drilling pipe (320) and the core bit (324) in the drilling equipment, and unloading force refers to the force (axial force) that presses the drilling pipe (320) downward during the process in which the core bit (324) penetrates the ground during the drilling operation.

[0155] In an embodiment of the present invention, low torque / high speed rotation is performed during fastening / unfastening operations such as screw fastening between the core barrel (323) and the rod, and high torque / low speed rotation is performed during coring operations such as operating the core bit (324) through the rod / core barrel (323).

[0156] Additionally, the drill head (340) may include a vertical feeder such as a linear motor / vertical guide and a rotary device such as a rotary motor / rotary guide (bearing).

[0157] 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 (340) is driven.

[0158] The fixing device can perform the function of fixing the rod and / or core barrel (323) when connecting and / or disconnecting the rod and / or core barrel (323) and the drill head (340).

[0159] The core bit (324) is a device for forming a core sample by cutting or crushing rocks or soil on the seabed, and may include a cutting part for cutting or crushing rocks or ground and a core extraction passage that guides the core sample into the core bit (324) and collects it in the core barrel (323).

[0160] The core barrel (323) is a cylindrical device for collecting and protecting a core sample, and operates in conjunction with the core bit (324) and can serve to transfer the collected core sample to the inner barrel (321).

[0161] The core barrel (323) is a device attached to the end of a drill pipe to collect a core sample and may include a tube, rod, lifter, reaming cell, head, core bit (324), etc.

[0162] The drilling rod (322) performs the function of transmitting the rotational force and loading force of the drill head (340) to the core barrel (323), and multiple rods (322) are connected in series, and the uppermost rod (322) can be connected to the drill head (340).

[0163] Multiple core barrel heads are provided, and the upper portions can be connected to a drill head (340) or a rod. The screw of the core barrel (323) has a core inside the core barrel (323), so it differs from the screw specifications of the drill head (340) or the rod. To accommodate this, the upper portion of the head can be made to the screw specifications of the drill head (340) or the rod, and the lower portion can be made to the screw specifications of the core barrel (323).

[0164] Multiple tubes of the core barrel (323) are provided, and a core barrel head can be connected to the top.

[0165] The tube may consist of an outer tube and an inner tube, and the inner tube may be configured to protect the extracted core.

[0166] Depending on the environment and application, the tubes of the core barrel (323) can be selectively used in various types, such as single-tube core barrels, double-tube core barrels, and triple-tube core barrels.

[0167] In an embodiment of the present invention, the tube of the core barrel (323) may be a single-tube core barrel of the non-wire type, in which the outer tube and the inner tube are integrated. In this case, the tube of the outer tube and the inner tube is capable of performing two functions: holding a sample and transmitting rotational force and compression force to the core bit (324).

[0168] Multiple reaming shells are provided, and a core barrel (323) can be connected to the top, and can perform the function of maintaining the stability of the borehole and preventing wear.

[0169] Multiple core lifters are provided and installed inside the core bit (324) to perform the function of preventing the leakage of the sample core.

[0170] The core bit (324) is a tool for cutting the rock to separate the sample from the rock mass, and multiple core bits are provided, and a reaming cell can be connected to the upper part.

[0171] In an embodiment of the present invention, the core bit (324) may selectively use various types such as a diamond core bit, a PDC core bit, and a tungsten carbide core bit depending on the environment and application.

[0172] Additionally, the coring body (310) may include a core lift system for transporting collected core samples, and the core barrel (323) can be lifted using a wire line or a drill pipe.

[0173] Generally, geological data is first analyzed to determine the location where core sampling is required, and then core sampling is performed by drilling to a depth underground through a drill pipe and attaching a core barrel (323) to the end of the drill pipe to start sampling. A core bit (324) cuts through the ground, and a core sample is collected in the inner tube of the core barrel (323).

[0174] When the core barrel (323) is full, the core barrel (323) 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.

[0175] The advantages of core sampling are that it allows for the direct identification of the continuous structure of underground strata, accurate analysis of the detailed geological characteristics of the layers, and provides high reliability because data is obtained through directly collected samples.

[0176] In an embodiment of the present invention, the core barrel (323) collects a core sample and delivers it to the inner barrel (321) of the magazine (350), and the magazine robot collects the magazine (350) having the inner barrel (321) filled with the core sample, thereby improving the efficiency of the drilling exploration operation and reducing costs.

[0177] Hereinafter, another aspect of the present invention will be described together with the drawings.

[0178] 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 platform that is not a bottom-mounted type. As shown in FIG. 11, 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 rough terrain on the seabed, a geophysical exploration device (200), and a drilling exploration device (300), so that complex exploration work on the seabed can be performed at a low cost and with high efficiency.

[0179] Hereinafter, with reference to FIGS. 12 to 19, the configuration, function, and effect of a geophysical exploration device (200) according to an embodiment of the present invention will be described in detail.

[0180] A geophysical exploration device (200) mounted on a robot (1000) capable of performing geophysical exploration and drilling exploration operations on the seabed remotely and / or unmanned according to an embodiment of the present invention comprises: an electrical exploration unit (210) that measures the electrical resistivity of the 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) that analyzes the electromagnetic characteristics of the seabed layer through an electromagnetic transmitter (223) installed on the robot (1000) that generates an electromagnetic field and an electromagnetic receiver (225) installed on the cable (203) that receives the generated electromagnetic field; and a seismic exploration unit (230) that analyzes the structure of the seabed layer by receiving seismic waves generated when the robot (1000) performs drilling operations or seismic waves generated by a separate seismic transmitter (233) through a seismic receiver (235). It may include.

[0181] Geophysical exploration for determining detailed reserves of deep-sea mineral resources includes electrical exploration, electromagnetic exploration, and seismic exploration. Since these geophysical explorations have many similarities, combining them can save time. In addition, by performing drilling exploration to acquire samples from the seabed in a system integrated with the geophysical exploration device (200) and analyzing the seismic waves generated at that time, the cost and time required for exploration can be reduced, thereby maximizing exploration efficiency.

[0182] In an embodiment of the present invention, the geophysical and drilling exploration robot (1000) comprises a rough terrain unmanned driving platform (100) capable of driving on rough terrain on the seabed, a geophysical exploration device (200) for performing geophysical exploration on the seabed, and a drilling exploration device (300) provided on one side of the driving direction of the driving platform (100) for performing sample collection on the seabed, wherein the rough terrain unmanned driving platform (100), the geophysical exploration device (200), and the drilling exploration device (300) may be configured as an integrated unit.

[0183] The rough terrain unmanned driving platform (100) may include a driving unit (110) comprising an attitude adjustment unit (115) for stabilizing driving on the seabed and a plurality of track units (113) capable of moving the rough terrain unmanned driving platform (100), and a platform (120) comprising a structural frame that is mounted on the top of the driving unit (110) and includes a recovery device, an energy supply device, a communication and control module, and additionally physically connects and mounts a geophysical exploration device (200) and a drilling exploration device (300) to these basic devices.

[0184] Exploration devices such as a geophysical exploration device (200) and a drilling exploration device (300) may be mounted or housed in the structural frame. Although it is depicted as a rectangular container shape in the drawings of this specification, it may be implemented in various shapes such as modular or open types depending on the application or environment.

[0185] Here, the term "launching and recovery device" refers to a device for launching and recovering underwater operating equipment, such as unmanned submersibles (400) or cables (203), used to explore and extract oil and gas in the ocean.

[0186] In addition, since the seabed is a very irregular rough terrain, a separate attitude adjustment device is required to control the attitude in rough terrain so that the rough terrain unmanned driving platform (100) can drive stably on the seabed.

[0187] 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).

[0188] The track section (113) may generally include an endless track and a drive motor for driving the endless track.

[0189] The actuator section (115b) includes a plurality of actuators, and by operating these actuators, movement can be imparted to a plurality of links constituting the link mechanism section (115a).

[0190] The track section (113) coupled to the link mechanism section (115a) can also be tilted within a certain angle to provide suspension so that the rough terrain unmanned driving platform (100) can drive even on irregular seabed surfaces.

[0191] In an embodiment of the present invention, the plurality of electrodes (215) for electrical exploration are spaced apart from each other at regular intervals on the cable (203) and can perform both a transmitting function of injecting current for electrical exploration into the ground layer and a receiving function of receiving said current.

[0192] Electrical exploration using electrodes (215) installed on a cable (203) on the seabed is a method of exploring underground structures by measuring the electrical characteristics of the seabed ground. This method is also called electrical resistivity exploration and is used to determine the location or distribution of underground resources by measuring the electrical resistance of seabed strata. Electrical exploration is useful for deep-sea mineral resource exploration. For example, since strata containing resources such as metallic minerals, oil, and gas exhibit different electrical characteristics from surrounding strata, the location and distribution of resources can be estimated through this. It can also be used for groundwater exploration and ground stability surveys.

[0193] In conventional technology, some of the electrodes installed on a submarine exploration cable act as transmitters. The transmitter sends current into the seabed through positive and negative electrodes. As the current passes through the ground, the flow changes depending on the electrical resistance of the ground. The remaining electrodes act as receivers and measure voltage changes that occur as the transmitted current passes through the ground. This voltage difference varies depending on the electrical resistivity of the ground, and by analyzing the voltage data measured by the receiver, the electrical characteristics of the seabed strata can be identified, and the location, size, and shape of the underground structure can be estimated.

[0194] The arrangement of transmitter and receiver electrodes is a critical factor in determining the resolution and depth of the exploration. For example, a wider spacing between electrodes allows for exploration of deeper areas, while a narrower spacing increases resolution, enabling a more accurate identification of the detailed structure of the strata.

[0195] In an embodiment of the present invention, the functions of a transmitter and a receiver can be performed by a single electrode (215), and by arranging a plurality of such electrodes (215) at regular intervals on a cable (203), the distance between the transmitting electrode and the receiving electrode can be freely adjusted as needed, thereby having the advantage of improving the efficiency and precision of electrical exploration.

[0196] In addition, in an embodiment of the present invention, a mounting frame (221) is 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).

[0197] The winding unit (205) may generally be a winch system including a drum, a winch motor, and a winch mount, and may include a tension control device for adjusting the tension of the cable (203).

[0198] In order to facilitate the operation of laying and retrieving the cable (203) on the seabed using the winding unit (205), the 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).

[0199] In addition, in an embodiment of the present invention, the electromagnetic transmitter (223) may be mounted on one end of the mounting frame (221).

[0200] When the electromagnetic transmitter (223) is mounted on the end of a separate mounting frame (221) in this manner to separate the robot (1000) body and the electromagnetic transmitter (223), it is possible to prevent interference with signals generated from other geophysical explorations, such as electrical exploration or seismic exploration. As shown in the drawing, the mounting frame (221) can be configured in an appropriate shape, such as a ladder or grid shape, to provide an appropriate separation distance between the electromagnetic transmitter (223) and the robot (1000) body, while simultaneously stably mounting the electromagnetic transmitter (223) and the winding unit (205).

[0201] 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 for the mounting frame.

[0202] 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).

[0203] A weight (207) attached to one end of the cable (203) functions as a weight to fix the end of the cable (203) to the seabed, and allows for easy storage, placement, and retrieval of the cable (203) through a tension adjustment device provided by the winding unit (205).

[0204] If the cable (203) is loosely positioned, there are many curved parts, making it difficult to verify the posture and thus difficult to determine the exact position. However, by using the end weight and winch system as described above to control tension, it is possible to maintain the cable (203) in a pulled state without applying an excessive load to the cable (203), thereby improving positional precision.

[0205] The cable (203) may be equipped with an electrical exploration electrode (215) and a seismic exploration seismic receiver (235) necessary for geophysical exploration.

[0206] Geophysical exploration includes electrical exploration, electromagnetic exploration, and seismic exploration; conventionally, it was common practice to deploy separate cables for each of these activities.

[0207] However, since each exploration technique for such geophysical exploration has a large similarity and can be combined with each other to save time, the present invention places electrodes (215), receiving devices, or transmitting devices used for electrical exploration, electromagnetic exploration, seismic exploration, etc., on a single cable (203). In this case, compared to the conventional method where separate cables were placed to perform each exploration technique, resulting in three or more repetitive cable placement operations, all exploration techniques required for geophysical exploration can be prepared with just one cable (203) placement, thus having the advantage of reducing work time and costs.

[0208] Furthermore, in addition to reducing the setup time for transmitters and receivers of each exploration technique mentioned above, the location information of transmitters and receivers commonly required during exploration can be utilized in a single measurement, thereby reducing the time required for location measurement and allowing for the expectation of improved exploration precision through simultaneous measurement.

[0209] Furthermore, electromagnetic exploration is a method that transmits electromagnetic waves generated at the surface into the subsurface and measures and analyzes how these waves are altered by various underground media. It works by generating an electromagnetic field at a transmitter and measuring the resulting electromagnetic field through a receiver, which is generated by currents induced in anomalies beneath the seafloor. In this bistatic method, where the transmitter and receiver are spaced apart, excellent resolution can be achieved, and measurements can be taken at great depths.

[0210] In an embodiment of the present invention, the electromagnetic transmitter (223) may be a coil such as a solenoid coil or a loop coil capable of forming a magnetic field, and the electromagnetic receiver (225) may be a coil such as a solenoid coil or a loop coil capable of detecting a change in the magnetic field and inducing a voltage.

[0211] 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 can be implemented to obtain excellent resolution and measurement depth.

[0212] In addition, in an embodiment of the present invention, the elastic wave transmitter (233) may include an elastic wave drill (234) that drills into the seabed to generate vibration.

[0213] Seismic surveying is an exploration technique that analyzes the structure and properties of the subsurface using artificially generated seismic waves. It involves artificially generating seismic waves and interpreting the subsurface structure by measuring the characteristics of how these waves reflect or refract as they pass through the subsurface medium. Since the velocity of seismic waves varies depending on the elastic modulus and density of the medium, the structure and physical properties of the subsurface can be identified by analyzing the reflected waves.

[0214] In an embodiment of the present invention, artificially generating seismic waves for seismic exploration can be performed in various ways.

[0215] For example, by incorporating SWD (seismic while drilling) technology, the vibration generated when the core bit (324) of the drilling exploration device (300) drills through the rock acts as a seismic wave (elastic wave), thereby enabling acoustic transmission through drilling. Optionally, when elastic wave generation is required, the drilling exploration device (300) is driven to generate elastic waves, and a plurality of elastic wave receivers (235) receive the generated elastic waves to perform elastic wave exploration.

[0216] In addition, for example, a method can be applied in which piles are driven into the seabed through drilling and then impacted to generate vibrations.

[0217] In addition, for example, to apply artificial impulsive pressure when drilling, devices such as impact hammers, pulsing pumps, air hammers, sonic drills, hydraulic hammers, and radial impactors may be used.

[0218] However, if the drilling exploration device (300) used for drilling operations is used only for seismic exploration, economic efficiency may be reduced.

[0219] Accordingly, in an embodiment of the present invention, a separate elastic wave transmitter (233) is configured to generate elastic waves, and the elastic wave transmitter (233) can be mounted on the lower end of the coring body (310) as shown in FIG. 9.

[0220] In this case, the lower part of the elastic wave transmitter (233) is equipped with an elastic wave drill (234) for the purpose of drilling into the seabed to generate vibrations. This elastic wave drill (234) may have a smaller size and output compared to a drill used for drilling exploration.

[0221] The elastic wave drill (234) of the elastic wave transmitter (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 transmitter (233) rotates and drills the ground in the form of rock to create elastic waves, but alternatively, the elastic wave drill (234) may reciprocate vertically to generate additional vertical elastic waves.

[0222] Generally, seismic exploration utilizes pneumatic methods using equipment called air guns or supersonic air generation methods through electrolysis using sparks, but such equipment cannot be used in the deep sea.

[0223] Alternatively, a method of using a weight in the deep sea is applicable, but there is a problem in that the equipment size must become too large to provide the sufficient weight required for seismic exploration.

[0224] Accordingly, there is an advantage in that elastic waves can be effectively generated using small and lightweight equipment by utilizing the excitation generated as the ground is drilled through the elastic wave transmitter (233) according to the embodiment of the present invention.

[0225] However, this is only possible in bedrock ground, and analysis may be difficult because the generated seismic excitation (transmission) signal cannot be controlled; this can be considered similar to borehole seismic exploration.

[0226] 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).

[0227] The seismic receiver (235) may include an underwater acoustic sensor such as a hydrophone. The seismic receiver (235) can detect sound waves or seismic waves and convert them into electrical signals. If multiple seismic receivers (235) are placed at regular intervals on a cable (203) laid on the seabed, there is an advantage in that the three-dimensional structure of the geological layer can be reconstructed more accurately by simultaneously capturing seismic waves at multiple points. The seismic signals captured by the seismic receiver (235) are converted into electrical signals and transmitted to an exploration vessel or an underwater base via a data cable, and this data can be analyzed to determine the structure, thickness, density, and potential resource locations of the seabed geological layer.

[0228] The method of mounting multiple elastic wave receivers (235) on the submarine cable in this way has the advantage that the spacing between the elastic wave receivers (235) can be precisely adjusted, allowing for the acquisition of high-resolution images of the underground structure, and that signal distortion caused by the external environment is minimized because the receivers are positioned in a fixed state on the seabed.

[0229] Below, the internal configuration of the cable (203) will be described in detail with reference to FIGS. 14 and FIGS. 15.

[0230] FIG. 14 is a perspective view illustrating the internal configuration of a cable of a geophysical exploration device according to an embodiment of the present invention, and FIG. 15 is an enlarged perspective view illustrating the internal configuration of a cable of a geophysical exploration device according to an embodiment of the present invention.

[0231] For cables used in geophysical exploration on the seabed, it is important to possess high tensile strength as a mechanical characteristic, maintain a small allowable bending radius, and have appropriate negative buoyancy while maintaining a constant outer diameter.

[0232] In other words, first, the cable must possess high tensile strength to withstand the load transmitted from the heavy body. This challenge can be solved by using high-tensile rope materials and a closed loop.

[0233] Second, a small allowable bending radius must be maintained, which means the cable must bend well to be easily wound onto the drum. This challenge can be solved by placing short electrodes on long ropes.

[0234] Third, a constant outer diameter must be maintained to facilitate winding onto the drum (winding section). This challenge can be solved by keeping the outer diameter of the cable sheath and the outer diameter of the electrode identical.

[0235] Fourth, when laying a cable underwater, it is undesirable for it to be too heavy (negative buoyancy) or too light (positive buoyancy), so appropriate negative buoyancy must be maintained, and stability can be increased by connecting it to a pressure compensation device considering the external pressure underwater. This challenge can be solved by filling the inside of the cable with a low specific gravity liquid, such as non-conductive pressure compensation oil.

[0236] In other words, because the specific gravity of electrodes for electrical transmitters and receivers, elastic wave receivers (hydrophones), and cables is high, the pressure can be compensated by filling the inside of the cable with pressure-compensating oil or insulating oil with a low specific gravity.

[0237] In addition, as an electrical characteristic for improving the electrical exploration efficiency of the cable, it is important to maintain non-conductivity between the electrodes. To address this challenge, the cable sheath can be made of a material such as PE (Polyethylene) that is non-conductive, highly flexible, has good wear resistance, and possesses appropriate rigidity, while the inner rope can be made of a material with high tensile non-conductivity (high electrical resistivity).

[0238] In addition, to improve the seismic exploration efficiency of the cable, it is important to construct the area surrounding the seismic receiver using low-density materials.

[0239] In other words, by using a low-density polymer resin material such as PE (Polyethylene) for the outer sheath of the cable and a low-density polymer resin material such as polyaramid for the rope, and by filling the empty space inside the sheath with a low-density liquid, the elastic wave receiver can effectively detect elastic waves.

[0240] Hereinafter, the features of the cable (203) of the geophysical exploration device (200) according to an embodiment of the present invention, designed to solve these problems, will be described.

[0241] Referring to FIGS. 14 and 15, 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 interior of the cable (203), and a rope (203b) is provided inside the cable (203) to form a closed loop.

[0242] The outer sheath (203a) acts as a protective barrier that blocks physical impact and environmental influences from the outside of the cable (203).

[0243] The outer shell (203a) can be formed from a non-conductive polymer resin material with a density equal to or lower than that of water.

[0244] For example, PE (Polyethylene) is a non-conductive polymer resin, and the density of PE is 0.88-0.96 g / cm³. 3 As the density of water (1 g / cm³ at 4 °C) 3 Since it is lower than ), PE can be suitable as the material for the outer shell (203a).

[0245] In addition, any other material that is non-conductive, highly flexible, has good wear characteristics, and has appropriate rigidity, and has a density equal to or lower than that of water, may also be suitable as the material for the outer shell (203a).

[0246] The rope (203b) can be formed from a non-conductive polymer resin material.

[0247] For example, polyaramid, which is used in bulletproof vests and special crane slings, can be used as the material for the rope (203b).

[0248] Polyaramid is a material with high tensile strength and non-conductivity (high electrical resistivity) that can prevent current from flowing directly between electrodes, so it can be suitable as a material for rope (203b).

[0249] The reason for using a non-conductive material instead of the commonly used steel wire for the rope (203b) is to minimize the direct flow of current between the electrodes and allow the current to flow into the underground ground, thereby increasing the efficiency of electrical exploration.

[0250] By placing a rope (203b) made of synthetic fiber material inside the cable (203) to form a closed loop connecting one end of the cable (203) and the other end, the load applied to the cable (203) can be distributed to improve durability, and when an impact is applied to the cable (203), the rope (203b) made of synthetic fiber material absorbs it, thereby reducing damage to the cable (203). This is a significant advantage, especially in harsh environments or environments subjected to high vibration.

[0251] Through this closed loop, the tensile force of the cable (203) can be transmitted uniformly to the rope (203b). If separate cables are connected without a closed loop, the load becomes more concentrated on the cable that is evenly shorter when subjected to tensile force, resulting in weaker strength. Through the closed loop, the cable length can be adjusted so that the load is applied uniformly to the cable at the point where the cable bends under tensile load.

[0252] In an embodiment of the present invention, the internal space of the cable (203) may be filled with a non-conductive liquid having a density equal to or lower than that of water.

[0253] In order to improve the seismic exploration efficiency of the cable (203), it is important to construct the area around the seismic receiver (235) using a low-density material.

[0254] That is, the outer sheath (203a) of the cable (203) is made of a polymer resin-based material such as low-density PE (Polyethylene), and the rope (203b) is made of a polymer resin-based material such as low-density polyaramid, and the empty space inside the outer sheath (203a) is filled with a low-density liquid, thereby enabling the elastic wave receiver (235) to effectively detect elastic waves.

[0255] For example, liquids such as insulating oil or silicone oil, which are commonly used as pressure compensation oils, have a density slightly lighter than or similar to water and can be mixed or adjusted for specific uses, so these liquids can be used to fill the internal space of the cable (203).

[0256] As described above, if the outer sheath (203a) of the cable (203), the rope (203b), and the liquid filling the internal space of the cable (203) are adopted, it is possible to satisfy both the mechanical and electrical characteristics required for a cable to perform geophysical exploration on the seabed as mentioned above, and there is an advantage in that the efficiency of seismic exploration can be improved.

[0257] In an embodiment of the present invention, each of the plurality of electrodes (215) spaced apart on the cable (203) can be connected to a rope (203b) provided inside the cable (203) to form a closed loop.

[0258] The plurality of electrodes (215) may be configured to be exposed to the outside without being enclosed by the outer sheath (203a) of the cable (203).

[0259] 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) that protects the inside of the cable (203).

[0260] This is to maintain a constant outer diameter of the cable (203) so that the cable (203) can be wound well onto the winding part (205).

[0261] Additionally, each of the plurality of electrodes (215) may be provided with a connecting part (215a) for connection with a rope.

[0262] The connecting portion (215a) may be in the form of a loop that can be used to attach a rope (203b), and the rope (203b) may be configured to connect between a plurality of electrodes (215) spaced apart on the cable (203), thereby forming a plurality of closed circuits of the rope (203b) connecting the plurality of electrodes (215).

[0263] The rope (203b) connects multiple electrodes (215) in the form of a closed loop, and the fastening part (215a) is firmly connected to the rope (203b), thereby contributing to overall load distribution and vibration absorption functions.

[0264] In an embodiment of the present invention, each of the plurality of elastic wave receivers (235) spaced apart from the cable (203) can be connected to a rope (203b) provided inside the cable (203) to form a closed loop.

[0265] Additionally, each of the plurality of elastic wave receivers (235) can be fitted together with a plurality of fixing parts (235a) configured to be fixed to the rope (203b).

[0266] The fixing part (235a) is configured to fix each of the plurality of elastic wave receiving parts (235) at a designated location within the cable (203), and can be fixed by fitting both ends of the fixing part (235a) to a rope (203b) forming a closed loop.

[0267] Additionally, an elastic wave receiver (235) is fitted into the central part of the fixed part (235a), so that the elastic wave receiver (235) can operate while maintaining its position stably inside the cable (203).

[0268] Additionally, a geophysical and drilling exploration robot (1000) according to an embodiment of the present invention comprises a rough terrain unmanned driving platform (100) capable of driving on rough terrain on the seabed, a drilling exploration device (300) provided on one side of the driving direction of the rough terrain unmanned driving platform (100) for collecting samples from the seabed, and a geophysical exploration unit (200) for performing geophysical exploration on the seabed, wherein the geophysical exploration unit (200) comprises an electrical exploration unit (210) that measures the electrical resistivity of the seabed strata by injecting current into the strata through a plurality of electrodes (215) spaced apart from each other on a cable (203) laid on the seabed, and an electromagnetic transmission unit (223) installed on the rough terrain unmanned driving platform (100) for generating an electromagnetic field and an electromagnetic reception unit (225) installed on the cable (203) for receiving the generated electromagnetic field, thereby the seabed It may include an electromagnetic exploration unit (220) that analyzes the electromagnetic characteristics of the geological layer, and a seismic exploration unit (230) that analyzes the structure of the seabed geological layer by receiving seismic waves generated when the drilling exploration device (300) performs a drilling operation or seismic waves generated by a separate seismic wave transmitter (233) via a seismic wave receiver (235).

[0269] FIG. 16 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).

[0270] The geophysical exploration unit (200) according to an embodiment of the present invention may include at least one of an electrical exploration unit (210) that performs electrical exploration, an electromagnetic exploration unit (220) that performs electromagnetic exploration, a seismic exploration unit (230) that performs seismic exploration, and a positioning unit (240) that transmits and receives sound waves to determine the location of the cable (203).

[0271] 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-transient memory (not shown) configured to store data regarding an algorithm configured to control the operation of various components or software instructions for reproducing said algorithm, and a processor (not shown) configured to perform the operation described below using the data stored in said 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.

[0272] The geophysical exploration unit (200) may include, in modular units, an electrical exploration unit (210), an electromagnetic exploration unit (220), a seismic exploration unit (230), a positioning unit (240) for positioning the location of a cable (203), etc.

[0273] Additionally, in an embodiment of the present invention, the geophysical exploration unit (200) includes a cable sensor unit (260), which refers to a cable (203) laid on the seabed for geophysical exploration and sensor devices such as an electrode (215) placed on the cable (203), an electromagnetic receiver (225), and a seismic receiver (235).

[0274] In addition, in an embodiment of the present invention, the geophysical exploration unit (200) may be configured to include a communication unit (250) to communicate with the integrated control device (500), which will be described later, via wired and / or wireless means. 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).

[0275] Additionally, the electrical exploration unit (210) includes a plurality of electrodes (215) that perform both electrical exploration transmission and electrical exploration reception, and the plurality of electrodes (215) may be spaced apart from each other on the cable (203).

[0276] The electrode (215) of the electrical exploration unit (210) is composed of a part that acts as a transmitter for sending current to the positive / negative electrode and a part that acts as a receiver for measuring the voltage formed on the other positive / negative electrode by the applied current, and the electrical exploration electrode (215) according to the embodiment of the present invention can perform the roles of both the transmitter and the receiver.

[0277] These electrodes (215) are spaced apart from each other on the cable (203), and the cable (203) is laid on the seabed to analyze the electrical characteristics of the underground and obtain various geological information.

[0278] Additionally, the electromagnetic exploration unit (220) may include an electromagnetic transmitter (223) mounted on the platform (120); and an electromagnetic receiver (225) located on the body (207).

[0279] In an embodiment of the present invention, an electromagnetic transmitter (223) is mounted on 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 enabling the implementation of a bistatic electromagnetic exploration method capable of obtaining excellent resolution and measurement depth.

[0280] Additionally, the seismic exploration unit (230) may include a seismic transmission unit (233) mounted on the drilling exploration device (300) and a plurality of seismic reception units (235) spaced apart from each other on the cable (203), and the seismic transmission unit (233) may be configured to transmit seismic waves generated by driving the drilling exploration device (300) to the plurality of seismic reception units (235) when the drilling exploration device (300) performs drilling work on the seabed or when seismic waves need to be generated.

[0281] In an embodiment of the present invention, the elastic wave transmitter (233) may include a vibration exciter capable of artificially generating seismic waves, and the elastic wave receiver (235) may include an underwater acoustic sensor such as a hydrophone.

[0282] In addition, in an embodiment of the present invention, the elastic wave transmitter (233) may be configured to generate and transmit an elastic wave through separate drilling.

[0283] Accordingly, there is an advantage in that elastic waves can be effectively generated using small and lightweight equipment by utilizing the excitation generated as the ground is drilled through the elastic wave transmitter (233) according to the embodiment of the present invention.

[0284] Additionally, the positioning unit (240) may include a sound wave transmitter (243) mounted on the platform (120), and the sound wave transmitter (243) may transmit sound waves to a plurality of elastic wave receivers (235) to position the location of the cable (203).

[0285] The sound wave transmitting unit (243) according to an embodiment of the present invention may be an acoustic transmitting device for positioning underwater, such as a USBL (ultra-short baseline).

[0286] In an embodiment of the present invention, the elastic wave receiver (235) may include an underwater acoustic sensor such as a hydrophone, so the elastic wave receiver (235) can receive not only the elastic waves transmitted by the elastic wave transmitter (233) but also the sound waves transmitted by the sound wave transmitter (243).

[0287] Here, since there is a difference in that USBL uses relatively high frequencies and seismic exploration uses relatively low frequencies, the respective signals can be distinguished even if the receiver for submarine cable seismic exploration and the high-frequency receiver for USBL for positioning are located together or used in common.

[0288] When a plurality of elastic wave receivers (235) placed on the cable (203) receive the sound waves transmitted by the sound wave transmitter (243), the location of the elastic wave receivers (235) can be measured, and through this, the location of transmitters and receivers for other geophysical explorations (electric, electromagnetic, etc.) in the surrounding area can be estimated, and the shape of the cable (203) can also be measured.

[0289] Additionally, as illustrated in FIG. 19, in an embodiment of the present invention, an acoustic mounting stand (241) in the shape of a ladder frame or a grid frame may be installed on the main body of a geophysical and drilling exploration robot (1000), and an acoustic transmitting unit (243), such as a USBL, may be installed at the end of the acoustic mounting stand (241) to measure the position of the electrode (215) and / or the elastic wave receiving unit (235) along with the shape of the cable (203).

[0290] FIG. 19 is a conceptual diagram illustrating a configuration in which a drilling exploration robot (1000) and a magazine robot (1500) are operated together with an unmanned submersible (400) and an integrated control device (500) in a drilling exploration system (2000) according to an embodiment of the present invention.

[0291] As illustrated in FIG. 19, 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.

[0292] In the geophysical and drilling exploration robot (1000) of the present invention, work can basically be performed using only a robot equipped with geophysical equipment and drilling equipment on a driving platform, but additionally, an unmanned submersible (400) can be utilized to increase work efficiency and perform work stably.

[0293] Meanwhile, this unmanned submersible (400) has the characteristic of being stored / mounted on a robot during normal times and being retrieved when necessary.

[0294] 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.

[0295] The unmanned submersible (400) may be a remotely operated vehicle (ROV) or an autonomous underwater vehicle (AUV) for seabed exploration, and the unmanned submersible (400) may be equipped with a sound wave receiver (245) for positioning. The sound wave receiver (245) may include an underwater acoustic sensor such as a hydrophone. The sound wave receiver (245) may receive an acoustic signal transmitted by the sound wave transmitter (243).

[0296] As described above, when the unmanned submersible (400) transports the weight (207) attached to the end of the cable (203) to lay the cable (203) on the seabed, the working time can be drastically reduced compared to when the rough terrain unmanned driving platform (100) moves and lays the cable (203) on the seabed, and the laying of the cable (203) is possible regardless of the terrain conditions of the seabed. When retrieving the cable (203), compared to when a winch system pulls the cable (203) placed on the seabed, retrieval is possible regardless of the terrain conditions of the seabed, so there is an advantage of preventing damage to the cable (203) and reducing the working time.

[0297] In addition, the drilling exploration system (2000) according to an embodiment of the present invention may include an integrated control device (500) located at the sea surface and connected to the geophysical and drilling exploration robot (1000) via wired or wireless connection to control and monitor the geophysical exploration and drilling exploration operations of the geophysical and drilling exploration robot (1000).

[0298] The integrated control device (500) may be located on a ship or drilling facility located on the sea surface and may be connected to the geophysical and drilling exploration robot (1000) via wired and / or wireless connection to control and monitor the geophysical and drilling exploration work performed by the geophysical and drilling exploration robot (1000) in real time, and may be configured to analyze data transmitted from the seabed by the geophysical and drilling exploration robot (1000) through the geophysical and drilling exploration work.

[0299] Additionally, the sound wave transmitter (243) transmits an acoustic signal for positioning of the geophysical and drilling exploration robot (1000) to the integrated control device (500), and the integrated control device (500) receives this acoustic signal and can determine the position of the geophysical and drilling exploration robot (1000) on the seabed. To this end, as shown in FIG. 19, the acoustic mounting stand (241) to which the sound wave transmitter (243) is attached is installed on the upper part of the geophysical and drilling exploration robot (1000), so that the sound wave transmitter (243) can transmit the acoustic signal in the direction of the sea surface without being constrained by obstacles.

[0300] Additionally, although not shown in the drawing, the integrated control unit (500) may implement a function to visualize data transmitted from the seabed by the geophysical and drilling exploration robot (1000) through geophysical exploration and drilling exploration 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 exploration operations.

[0301]

[0302] Although various preferred embodiments of the present invention have been described above with some examples, the descriptions of various embodiments described in the "Specific details for carrying out the invention" section are merely illustrative, and those skilled in the art to which the present invention pertains will understand that the present invention can be modified in various ways or equivalent embodiments can be carried out based on the above description.

[0303] Furthermore, since the present invention can be implemented in various other forms, the present invention is not limited by the description above. The above description is provided merely to make the disclosure of the present invention complete and to fully inform those skilled in the art 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.

[0304]

[0305] [Explanation of the symbol]

[0306] 1000: Drilling exploration robot

[0307] 100 : Off-road unmanned driving platform

[0308] 110 : Driving unit

[0309] 113 : Track section

[0310] 115 : Attitude adjustment unit

[0311] 115a : Link mechanism

[0312] 115b : Actuator section

[0313] 120 : Platform

[0314] 200: Geophysical exploration device

[0315] 203 : Cable

[0316] 203a : Outer shell

[0317] 203b : Rope

[0318] 205 : Winding section

[0319] 207 : Weight

[0320] 210 : Electric Exploration Department

[0321] 215 : Electrode

[0322] 215a : Fastening part

[0323] 220 : Electromagnetic Exploration Department

[0324] 221 : Mounting frame

[0325] 223 : Electromagnetic transmitter

[0326] 225 : Electromagnetic receiver

[0327] 230 : Seismic Exploration Department

[0328] 233 : Elastic Transmitter

[0329] 234 : Seismic drill

[0330] 235 : Seismic receiver

[0331] 235a : Fixed part

[0332] 240 : Positioning unit

[0333] 241 : Sound Stand

[0334] 243 : Sound wave transmitter

[0335] 245 : Sound receiver

[0336] 250 : Communications Department

[0337] 260 : Cable sensor section

[0338] 300: Drilling exploration device

[0339] 310 : Core Ring Main Body

[0340] 320 : Drilling pipe

[0341] 321 : Inner Barrel

[0342] 322 : Load

[0343] 323 : Core Barrel

[0344] 324 : Core bits

[0345] 340 : Drill head

[0346] 350 : Magazine

[0347] 351 : Inner Barrel Magazine

[0348] 352 : Road Magazine

[0349] 370 : Vertical movement device

[0350] 380 : Rotating device

[0351] 400: Unmanned Submersible

[0352] 500 : Integrated Control Unit

[0353] 1500 : Magazine Robot

[0354] 1510: Magazine compartment

[0355] 1520 : Robotic Arm

[0356] 2000: Drilling Exploration System

[0357]

[0358] The present invention has industrial applicability that improves the economic efficiency and economy of drilling exploration operations, as it has the advantage of minimizing the size of a drilling exploration robot equipped with drilling equipment on a driving device and reducing costs by supplying and retrieving a magazine from a separate external magazine robot in the case of deep drilling.

Claims

1. At least one drilling exploration robot that performs drilling exploration work on the seafloor; and Characterized by including a magazine robot that receives a magazine having an inner barrel in which a sample has been sampled from the above-mentioned drilling exploration robot. Drilling exploration system.

2. At least one drilling exploration robot that performs drilling exploration work on the seabed; and A magazine robot that receives a magazine having an inner barrel in which a sample has been sampled from the drilling exploration robot, and also provides a magazine having an empty inner barrel or a rod stored therein to the drilling exploration robot; characterized by including Drilling exploration system.

3. In Paragraph 1 or 2, When the drilling exploration operation of the above-mentioned drilling exploration robot is completed, The above magazine robot delivers an empty magazine, which has no inner barrel or rod at all, to the above drilling exploration robot, and The above-mentioned drilling exploration robot fills the above-mentioned empty magazine with the rods recovered from the drilling exploration operation, and then, The above magazine robot is characterized by recovering a magazine filled with rods recovered from the above drilling exploration operation. Drilling exploration system.

4. In Paragraph 1 or 2, The above magazine robot is, A robot arm that transports the above magazine; and Characterized by including a magazine storage box configured to load a plurality of the above-mentioned magazines. Drilling exploration system.

5. In Paragraph 4, The above-described robot arm is characterized by being capable of multi-degrees-of-freedom rotation and linear movement, Drilling exploration system.

6. In Paragraph 1 or 2, An up-and-down movement device is attached to one side of the above-mentioned drilling exploration robot, and A coring body that provides power necessary for drilling exploration work is connected to the above-described vertical movement device and moves up and down, characterized by Drilling exploration system.

7. In Paragraph 1 or 2, The above magazine is characterized by including a plurality of inner barrels, a plurality of rods, or a mixture of a plurality of inner barrels and rods. Drilling exploration system.

8. In Paragraph 7, The above-described drilling exploration robot is characterized by each being equipped with one magazine including the plurality of inner barrels and one magazine including the plurality of rods. Drilling exploration system.

9. In Paragraph 7, The above-described drilling exploration robot is characterized by being equipped with two magazines containing a mixture of the above-described multiple inner barrels and rods. Drilling exploration system.

10. In Paragraph 7, The above-mentioned drilling exploration robot is, A rotating device that rotates the magazine to sequentially feed the inner barrel or rod contained in the magazine into the drilling exploration operation; characterized by including Drilling exploration system.

11. A step in which a magazine robot stores multiple magazines having empty inner barrels or loads; A step in which a magazine robot delivers a magazine having an empty inner barrel or a rod to at least one drilling exploration robot for installation; and Characterized by including the step of at least one drilling exploration robot performing a drilling exploration operation on the seabed. Drilling exploration method.

12. In Paragraph 11, When the drilling exploration operation of the above-mentioned drilling exploration robot is completed, The above magazine robot delivers an empty magazine, which has no inner barrel or rod at all, to the above drilling exploration robot, and The above-mentioned drilling exploration robot fills the above-mentioned empty magazine with the rods recovered from the drilling exploration operation, and then, The above magazine robot is characterized by recovering a magazine filled with rods recovered from the above drilling exploration operation. Drilling exploration method.

13. In Paragraph 11, The above magazine robot is, A robot arm that transports the above magazine; and Characterized by including a magazine storage box configured to load a plurality of the above-mentioned magazines. Drilling exploration method.

14. In Paragraph 11, An up-and-down movement device is attached to one side of the above-mentioned drilling exploration robot, and A coring body that provides power necessary for drilling exploration work is connected to the above-described vertical movement device and moves up and down, characterized by Drilling exploration method.

15. In Paragraph 11, The above magazine is characterized by including a plurality of inner barrels, a plurality of rods, or a mixture of a plurality of inner barrels and rods. Drilling exploration method.

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