An in-situ drilling system capable of moving in deep sea and underwater inspection method thereof

Abstract

The application discloses a kind of in-situ drilling systems capable of moving in deep sea, including ship system, underwater system and connecting pipeline, underwater system includes: anti-sink frame, fixed on deep water seabed;Underwater hydraulic station is fixed on anti-sink frame, underwater hydraulic station is connected with power source by connecting pipeline;Slip platform is fixed on anti-sink frame;Underwater in-situ drilling device is installed on slip platform, and can slide in multiple directions on slip platform;Intelligent inspection robot includes inspection track and inspection robot body, inspection track is installed on anti-sink frame, and located at the periphery of slip platform, inspection robot body is powered by underwater hydraulic station and moves along inspection track, and transmits inspection information to the control room of ship system.The application also discloses an underwater inspection method of the above-mentioned in-situ drilling system.The application can realize underwater intelligent inspection, and the underwater in-situ drilling device is installed on the slip platform, which can slide in multiple directions of the slip platform, and drilling is more convenient.

Description

Technical Field

[0001] The present invention relates to the field of intelligent robots, and in particular to an in-situ drilling system and an underwater inspection method thereof. Background Art

[0002] Existing underwater drilling platforms, such as those disclosed in Patent Publication No. CN102234999A, consist of a surface supply vessel and an underwater drilling platform. The offshore supply vessel and the underwater drilling platform are connected by a multifunctional pipeline and wiring system, which facilitates material and energy supply and signal transmission. The underwater drilling platform performs all the operations from drilling and cementing to completion, with the surface supply vessel and driller's cabin providing supplies, monitoring, and control.

[0003] Existing monitoring devices require a power system and are generally used for monitoring above water. How to monitor the drilling platform underwater is a major technical difficulty for underwater drilling platforms.

[0004] Patent publication number CN111942550B discloses a three-dimensional mobile monitoring system for marine hydrate mining environments. The mobile monitoring platform shuttles between production wells. However, this monitoring system is an autonomous underwater vehicle and requires an independent power system, which is expensive. Summary of the Invention

[0005] The purpose of the present invention is to provide an in-situ drilling system and underwater inspection method thereof, which can realize intelligent underwater inspection and enable the underwater in-situ drilling device to be movable and adjustable. The present invention adopts the following technical solutions:

[0006] The present invention discloses an in-situ drilling system capable of moving in the deep sea, comprising an onboard system, an underwater system and connecting pipelines, wherein the onboard system comprises an operating vessel, a control room and a power source, and the connecting pipelines are used to connect the onboard system and the underwater system; the system is characterized in that the underwater system comprises: an anti-sinking frame fixed on the deep-water seabed; an underwater hydraulic station fixed on the anti-sinking frame, the underwater hydraulic station being connected to the power source via connecting pipelines; a sliding platform fixed on the anti-sinking frame; an underwater in-situ drilling device mounted on the sliding platform and capable of sliding in multiple directions on the sliding platform; an intelligent inspection robot comprising an inspection track and an inspection robot body, the inspection track being mounted on the anti-sinking frame and being located on the periphery of the sliding platform, the inspection robot body being powered by the underwater hydraulic station to move along the inspection track, and transmitting inspection information to the control room of the onboard system.

[0007] Preferably, the sliding platform comprises two X-direction sliding rails, two Y-direction sliding rails and a mounting plate, the two X-direction sliding rails are fixed on the anti-sinking frame in parallel, the two Y-direction sliding rails are vertically installed on the X-direction sliding rails and can slide along the X-direction, the mounting plate is installed on the Y-direction sliding rails and can slide along the Y-direction, and the underwater in-situ drilling device is arranged on the mounting plate.

[0008] Further, the sliding platform further comprises a mobile drilling control mechanism, which is installed on the mounting plate and connected with the bottom of the underwater in-situ drilling device to control the underwater in-situ drilling device to drill along different angle directions; and the mounting plate is provided with a working hole through which a drill rod of the underwater in-situ drilling device passes.

[0009] In an embodiment, the mounting plate comprises a lower plate body and an upper plate body, one side of the upper plate body is hinged to the lower plate body, the lower plate body is installed on the Y-direction sliding rails and can slide along the Y-direction, and the underwater in-situ drilling device is fixed on the upper plate body; one end of the mobile drilling control mechanism is hinged to the lower plate body, and the other end controls the upper plate body to rotate along the hinged side.

[0010] The mobile drilling control mechanism comprises a fixing frame, a first hinged block, a second hinged block and at least one set of first hydraulic rods, the fixing frame is fixed on the lower plate body, the first hinged block is arranged on the fixing frame, the second hinged block is arranged below the lower plate body, one end of the first hydraulic rod is hinged to the first hinged block, and the other end is hinged to the second hinged block.

[0011] In another embodiment, the mobile drilling control mechanism comprises at least three sets of vertically arranged second hydraulic rods, the lower ends of the second hydraulic rods are fixed on the mounting plate, and the upper ends are hingedly connected to the bottom of the underwater in-situ drilling device.

[0012] The second hydraulic rods are arranged in three sets and arranged in an isosceles triangle or an equilateral triangle, the bottom of the underwater in-situ drilling device is provided with a bottom plate, a third hinged block is fixed below the bottom plate, and the upper ends of the second hydraulic rods are hinged to the third hinged block.

[0013] Preferably, the two sides of any one of the X-direction sliding rails are provided with X-direction limiters, and the two sides of any one of the Y-direction sliding rails are provided with Y-direction limiters.

[0014] Wherein, the inspection track is circular or runway-shaped; when the inspection track is circular, the inspection track includes several arc-shaped tracks; when the inspection track is runway-shaped, the inspection track includes several straight tracks and several arc-shaped tracks; grooves are provided on both sides of the direct track and the arc-shaped track, and vertically uniformly arranged guide columns are installed in the grooves on one side; a base is provided under the inspection robot body, and the base includes a bottom plate, a rotating power component installed on the bottom plate, a gear installed under the bottom plate and several guide wheels, the rotating power component drives the gear to rotate, and the guide wheel is rotatably installed in the groove of the track, and when the gear rotates, it engages with the guide column to drive the guide wheel to move along the groove of the track.

[0015] Preferably, there are three guide wheels, one and the gear are located on one side of the inspection track groove, and the other two are located on the other side of the inspection track groove; the anti-sinking frame includes an upper frame body, a lower frame body and columns connecting the upper frame body and the lower frame body, and the columns include cylindrical columns located at the corners and several I-shaped columns located between the cylindrical columns.

[0016] The present invention also discloses an underwater inspection method for an in-situ drilling system, which uses the above-mentioned in-situ drilling system that can move in the deep sea, divides the inspection track into a first track segment and a second track segment, controls the inspection robot body to move back and forth on the first track segment several times, and then enters the second track segment and moves back and forth several times, and performs inspection and monitoring alternately on the first track segment and the second track segment.

[0017] The inspection track is in the shape of a runway and is symmetrically divided into two halves along the width direction of the runway, namely the first track segment and the second track segment.

[0018] Due to the adoption of the above structure, the present invention has the following beneficial effects:

[0019] 1. The present invention can realize underwater intelligent inspection, and the intelligent inspection robot and the underwater in-situ drilling device share the power of the underwater hydraulic station, which is economical and practical.

[0020] 2. The present invention installs the underwater in-situ drilling device on a sliding platform, which can move in multiple directions along the sliding platform, so that the underwater in-situ drilling device can be moved between wellheads in different positions quickly and conveniently.

[0021] 3. A mobile drilling control mechanism is set on the sliding platform to control the underwater in-situ drilling device to move up and down a certain distance or rotate a certain angle, adjust the underwater in-situ drilling device to a certain height, and quickly change the drilling direction.

[0022] 4、The inspection method can prevent the connection pipeline from winding, and can realize 360-degree omnibearing dead angle-free monitoring of the underwater in-situ drilling device. BRIEF DESCRIPTION OF DRAWINGS

[0023] Fig. 1 is a structural schematic diagram of the present application.

[0024] Figure 2 Fig. 2 is a three-dimensional schematic diagram of the underwater system of the present application.

[0025] Figure 3 Fig. 3 is a front view schematic diagram of the present application. Figure 2

[0026] Figure 4 Fig. 4 is an exploded schematic diagram of the present application. Figure 2

[0027] Figure 5 Fig. 5 is a three-dimensional sectional schematic diagram of the anti-sinking frame.

[0028] Figure 6 Fig. 6 is a structural schematic diagram of the sliding platform.

[0029] Figure 7 Fig. 7 is a structural schematic diagram of the installation plate and the mobile drilling control mechanism.

[0030] Figure 8 Fig. 8 is a front view schematic diagram of the present application. Figure 7

[0031] Figure 9 Fig. 9 is a schematic diagram of the hydraulic rod extension state of the present application. Figure 8

[0032] Fig. 10 is a schematic diagram of the circular inspection track. Figure 10

[0033] Fig. 11 is a schematic diagram of the runway-shaped inspection track. Figure 11

[0034] Fig. 12 is a schematic diagram of the installation of the inspection robot body and the inspection track. Figure 12

[0035] Fig. 13 is a schematic diagram of the installation of the inspection robot body and the inspection track from another angle. Figure 13 Figure 12 Fig. 14 is a schematic diagram of the installation of the inspection robot body and the inspection track from another angle.

[0036] Figure 14 Fig. 15 is a three-dimensional diagram of the inspection robot body.

[0037] Figure 15 Fig. 16 is a schematic diagram of the inspection direction of the underwater inspection method.

[0038] Figure 16

[0039] Figure 17 ​​​​​Schematic diagram of the connection structure between the mobile drilling control mechanism, the mounting plate and the underwater in-situ drilling device in the second embodiment.

[0040] Figure 18 for Figure 17 Schematic diagram of the main view.

[0041] Figure 19 for Figure 18 Schematic diagram of the retracted state of the shaft of the second hydraulic rod in the third group.

[0042] Figure 20 for Figure 18 Schematic diagram of the retracted state of the shaft of a group of second hydraulic rods.

[0043] Description of main component symbols:

[0044] 1: Onboard system, 2: Connecting pipeline, 3: Anti-sinking frame, 31: Upper frame, 32: Lower frame, 33: Cylindrical support, 34: I-shaped support, 4: Underwater hydraulic station, 5: Sliding platform, 51: X-axis slide rail, 52: Y-axis slide rail, 53: Mounting plate, 531: Lower plate, 532: Upper plate, 533: Working hole; 54: X-axis limiter, 55: Y-axis limiter, 6: Underwater in-situ drilling device, 61: Bottom plate, 7: Intelligent inspection robot, 71: Inspection track , 711: linear track, 712: arc track, 713: groove, 714: guide column, 715: first track segment, 716: second track segment, 72: inspection robot body, 721: base plate, 722: rotating power assembly, 723: gear, 724: guide wheel, 8: mobile drilling control mechanism, 81: first hydraulic rod, 82: fixed frame, 83: first articulated block, 84: second articulated block, 85: second hydraulic rod, 851: shaft rod, 86: third articulated block. DETAILED DESCRIPTION

[0045] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention is described in further detail below with reference to the accompanying drawings and specific embodiments.

[0046] Example 1

[0047] As shown in FIG1 , the present invention discloses an in-situ drilling system, which includes an onboard system 1 , an underwater system and connecting pipelines 2 .

[0048] The onboard system 1 includes a workboat, a control room, and a power source, as well as a mud pump and mud manifold (not shown). The power source includes a hydraulic power source and an electrical and traction system. The control room is responsible for monitoring and operating the entire drilling system. The mud pump and manifold provide a mud circulation channel for drilling operations and provide energy for the power drilling tools of the underwater in-situ drilling rig 6. The main purpose of circulating mud is to ensure that rock cuttings removed by the drill bit are carried out and to provide fluid pressure support for wellbore stability. The hydraulic power source provides control power to the underwater hydraulic station 4, operates the movement of the sliding platform 5 (including X and Y axis movement and plane tilt), and controls the underwater in-situ drilling rig 6 to operate the coiled tubing in and out of the wellbore. The electrical and traction system primarily provides power and power to the workboat and the mud pump. The onboard system 1 is a conventional configuration of existing drilling systems and will not be described in detail here.

[0049] Connecting pipeline 2 connects the onboard system 1 with the underwater system. It primarily consists of coiled tubing, cables, and a hydraulic control line assembly, providing a link for control, operation, and monitoring of the underwater system. Connecting pipeline 2 can be a buoyant tube.

[0050] like Figure 2-4 As shown, the underwater system of the present invention includes: an anti-sinking frame 3, an underwater hydraulic station 4, a sliding platform 5, an underwater in-situ drilling device 6 and an intelligent inspection robot 7.

[0051] The anti-sinking frame 3 is fixed on the underwater seabed. The anti-sinking frame 3 includes an upper frame 31, a lower frame 32 and columns connecting the upper frame and the lower frame. The underwater hydraulic station 4 is fixed above the upper frame 31. The underwater hydraulic station 4 is connected to the power source of the ship system 1 through the connecting pipeline 2. Figure 5 As shown, the columns include cylindrical pillars 33 located at the corners and several I-shaped pillars 34 located between the cylindrical pillars. The columns support the upper frame 31.

[0052] like Figure 6As shown, the sliding platform 5 is fixed to the anti-sinking frame 3. In this embodiment, the sliding platform 5 includes two mutually parallel X-direction slide rails 51, two mutually parallel Y-direction slide rails 52, and a mounting plate 53. The two X-direction slide rails 51 are fixed to the anti-sinking frame 3, the two Y-direction slide rails 52 are mounted perpendicularly to the X-direction slide rails 51 and can slide in the X direction, and the mounting plate 53 is mounted to the Y-direction slide rails 52 and can slide in the Y direction. The underwater in-situ drilling device 6 is fixed to the mounting plate 53. The mounting plate 53 has a working hole 533 for the drill rod of the underwater in-situ drilling device 6 (not shown in the figure, extending from the bottom of the underwater in-situ drilling device) to pass through. X-direction limiters 54 are installed on both sides of each X-direction slide rail 51, and Y-direction limiters 55 are installed on both sides of each Y-direction slide rail 52. The provision of the X-direction limiters 54 and Y-direction limiters 55 prevents movement beyond the travel range of the slide rails. When drilling, the underwater in-situ drilling device 6 needs to move between different wellheads. Therefore, the underwater in-situ drilling device 6 is installed on the sliding platform 5 and can slide along the X and Y directions on the sliding platform 5, making the movement faster.

[0053] When the underwater in-situ drilling device 6 is working, during the process of pulling out the drill rod, sometimes the placement position is not ideal or an inclined drilling is required, and a certain angle position needs to be adjusted. Therefore, the sliding platform 5 of the present invention is also provided with a mobile drilling control mechanism 8.

[0054] like Figure 7 、 Figure 8 As shown, the mounting plate 53 includes a lower plate 531 and an upper plate 532. One side of the upper plate 532 is hinged to the lower plate 531. The lower plate 531 is mounted on the Y-direction slide rail 52 and can slide along the Y-direction. The upper plate 532 is fixed with the underwater in-situ drilling device 6. The mobile drilling control mechanism 8 controls the rotation of the upper plate 532, which can be achieved by various mechanisms. Figure 7 As shown, in this embodiment, the mobile drilling control mechanism 8 includes at least one group of a first hydraulic rod 81, a fixed frame 82, a first articulated block 83 and a second articulated block 84. In this embodiment, two groups of the first hydraulic rod 81, the fixed frame 82, the first articulated block 83 and the second articulated block 84 are provided, which are respectively located on both sides of the mounting plate. The first hydraulic rod 81 is connected to the underwater hydraulic station 4, the fixed frame 82 is fixed on the lower plate 531, the first articulated block 83 is provided on the fixed frame 82, and the second articulated block 84 is provided below the lower plate 531. One end of the first hydraulic rod 81 is hinged to the first articulated block 83, and the other end is hinged to the second articulated block 84. As shown Figure 9 As shown, the shaft of the first hydraulic rod 81 extends out, prying the upper plate 532 to rotate upward by a certain angle, thereby causing the drill rod to rotate by a certain angle.

[0055] like Figure 10 、 11As shown, the intelligent inspection robot 7 includes an inspection track 71 and an inspection robot body 72. The inspection track 71 is annular (such as Figure 10 ) or runway-shaped (e.g. Figure 11 The inspection robot body 72 includes the cameras, water flow and water quality sensors, ultrasonic rangefinders, and various sensors required for inspections. The inspection track 71 is mounted on the anti-sinking frame 3 and located outside the skid platform 5. It moves 360 degrees around the perimeter of the underwater in-situ drilling rig 6 to perform inspections. The inspection robot body 72 is powered by the underwater hydraulic station 4 and moves along the inspection track 71, transmitting inspection information to the control room of the onboard system 1.

[0056] like Figure 11 As shown, in this embodiment, the inspection track 71 includes a plurality of straight tracks 711 and a plurality of arc tracks 712 , and the straight tracks 711 and the arc tracks 712 are spliced ​​to form a runway shape.

[0057] like Figures 12-14 As shown, grooves 713 are provided on both sides of the straight track 711 and the arc track 712, wherein a guide column 714 is installed in the groove 713 on one side. Figure 15 As shown, a base is provided beneath the inspection robot body 72. The base comprises a base plate 721, a rotary power assembly 722 mounted on the base plate 721, a gear 723 mounted below the base plate 721, and three guide wheels 724. One guide wheel 724 and the gear 723 are located on one side of a groove 713 in the inspection track 71, while the other two guide wheels 724 are located on the other side of the groove 713. The rotary power assembly 722 drives the gear 723 to rotate, and the guide wheels 724 are rotatably mounted within the track groove 713. When the gear 723 rotates, it engages with the guide post 714, driving the guide wheels 724 along the track groove 713, thereby driving the entire inspection robot body 72 along the inspection track 71. The meshing of the gear 723 and the guide post 714 allows the robot to adapt to both linear tracks 711 and circular tracks 712, allowing the robot to glide smoothly on either track.

[0058] The present invention also discloses an underwater inspection method for an in-situ drilling system. Using the in-situ drilling system of the present invention, an inspection track 71 is divided into a first track segment 715 and a second track segment 716. An inspection robot body 72 is controlled to move back and forth several times on the first track segment 715 and then enter the second track segment 716 and move back and forth several times, performing inspections and monitoring alternately on the first track segment 715 and the second track segment 716.

[0059] like Figure 16As shown, the inspection track 71 is runway-shaped and is symmetrically divided into two halves along the width direction of the runway, namely a first track segment 715 and a second track segment 716. The first track segment 715 has a head end T1 and a tail end W1, while the second track segment 716 has a head end T2 and a tail end W2. The head end T1 of the first track segment 715 is connected to the head end T2 of the second track segment 716, and the tail end W1 of the first track segment 715 is connected to the tail end W2 of the second track segment 716. The control steps are as follows:

[0060] ① Control the inspection robot body 72 to walk from T1 to W1, and then return from W1 to T1 to form a reciprocating inspection.

[0061] ② Control the inspection robot body 72 from T1 to T2 and start inspection on the second track segment 716.

[0062] ③ Control the inspection robot body 72 to move from T2 to W2, and then return from W2 to T2 to form a reciprocating inspection.

[0063] ④Repeat steps ①-③ above.

[0064] Since the hydraulic power of the inspection robot body comes from the underwater hydraulic station, this half-way reciprocating inspection method can prevent the hydraulic control pipeline from getting entangled, ensuring the safe traction of the hydraulic control pipeline.

[0065] Example 2

[0066] The difference between this embodiment and the first embodiment is that the mobile drilling control mechanism 8 of this embodiment is different from that of the first embodiment.

[0067] like Figure 17 、 Figure 18 As shown, the mobile drilling control mechanism 8 of this embodiment includes at least three sets of vertically arranged second hydraulic rods 85. In this embodiment, three sets of second hydraulic rods 85 are provided, and the second hydraulic rods 85 are arranged in a triangle. To provide a more stable support, the triangle is arranged in an isosceles triangle or an equilateral triangle.

[0068] The lower end of the second hydraulic rod 85 is fixed on the mounting plate 53 , and the upper end is hingedly connected to the bottom of the underwater in-situ drilling device 6 .

[0069] In this embodiment, a base plate 61 is provided at the bottom of the underwater in-situ drilling apparatus 6. A third hinge block 86 is fixed below the base plate 61. The upper end of the second hydraulic rod 85 is hingedly connected to the third hinge block 86. Both the mounting plate 53 and the base plate 61 are provided with a working opening 533 for the drill rod of the underwater in-situ drilling apparatus 6 to pass through.

[0070] like Figure 19As shown, by simultaneously controlling the movement of the shaft 851 of the three groups of second hydraulic rods 85, the underwater in-situ drilling device 6 can be controlled to move up or down as a whole, thereby adjusting the upper and lower positions of the drill rods to achieve vertical drilling. Figure 20 As shown, by controlling the movement of the shafts of one set of second hydraulic rods 85, the underwater in-situ drilling device 6 can be tilted to one side together with the bottom plate 61. By arbitrarily controlling the extension and contraction of the shafts of one set of second hydraulic rods 85, multi-directional inclined drilling can be achieved.

[0071] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. An in-situ drilling system capable of moving in the deep sea, comprising an onboard system, an underwater system, and connecting pipelines, wherein the onboard system comprises an operating vessel, a control room, and a power source, and the connecting pipelines are used to connect the onboard system and the underwater system; characterized in that: The underwater system includes: Anti-sinking frame, fixed to the seabed deep underwater; An underwater hydraulic station is fixed on the anti-sinking frame, and the underwater hydraulic station is connected to the power source through a connecting pipeline; A sliding platform is fixed to the anti-sinking frame; the sliding platform includes two X-direction slide rails, two Y-direction slide rails, a mounting plate, and a mobile drilling control mechanism; the two X-direction slide rails are fixed to the anti-sinking frame in parallel with each other, the two Y-direction slide rails are mounted perpendicularly on the X-direction slide rails and can slide in the X direction, and the mounting plate is mounted on the Y-direction slide rails and can slide in the Y direction; An underwater in-situ drilling device is mounted on a sliding platform and can slide in multiple directions on the sliding platform; the underwater in-situ drilling device is disposed on a mounting plate; the mobile drilling control mechanism is mounted on the mounting plate and connected to the bottom of the underwater in-situ drilling device to control the underwater in-situ drilling device to drill in different angles and directions; the mounting plate is provided with a working hole for the drill rod of the underwater in-situ drilling device to pass through; The intelligent inspection robot includes an inspection track and an inspection robot body. The inspection track is installed on the anti-sinking frame and is located on the periphery of the sliding platform. The inspection robot body is powered by an underwater hydraulic station to move along the inspection track and transmit inspection information to the control room of the onboard system.

2. The deep-sea mobile in-situ drilling system according to claim 1, characterized in that: The mounting plate includes a lower plate body and an upper plate body, one side of the upper plate body is hinged to the lower plate body, the lower plate body is installed on the Y-direction slide rail and can slide along the Y-direction, and the underwater in-situ drilling device is fixed on the upper plate body; one end of the mobile drilling control mechanism is hinged to the lower plate body, and the other end controls the upper plate body to rotate along the hinged side.

3. The deep-sea mobile in-situ drilling system according to claim 2, characterized in that: The mobile drilling control mechanism includes: At least one group of a fixing frame, a first hinge block, a second hinge block and a first hydraulic rod, wherein the fixing frame is fixed on the lower plate body, the first hinge block is arranged on the fixing frame, the second hinge block is arranged below the lower plate body, and one end of the first hydraulic rod is hinged to the first hinge block, and the other end is hinged to the second hinge block.

4. The deep-sea mobile in-situ drilling system according to claim 1, wherein: The mobile drilling control mechanism includes at least three groups of vertically arranged second hydraulic rods, the lower ends of the second hydraulic rods are fixed to the mounting plate, and the upper ends are hingedly connected to the bottom of the underwater in-situ drilling device.

5. The deep-sea mobile in-situ drilling system according to claim 4, characterized in that: The second hydraulic rods are provided in three groups and are arranged in an isosceles triangle or an equilateral triangle; a base plate is provided at the bottom of the underwater in-situ drilling device, a third hinge block is fixed under the base plate, and the upper end of the second hydraulic rod is hinged to the third hinge block.

6. The deep-sea mobile in-situ drilling system according to claim 1, characterized in that: X-direction limiting parts are installed on both sides of any X-direction slide rail, and Y-direction limiting parts are installed on both sides of any Y-direction slide rail.

7. The deep-sea mobile in-situ drilling system according to claim 1, characterized in that: The inspection track is in the shape of a ring or a runway; When the inspection track is annular, the inspection track includes several circular arc tracks; When the inspection track is runway-shaped, the inspection track includes several straight tracks and several arc-shaped tracks; grooves are provided on both sides of the straight tracks and the arc-shaped tracks, and a guide column evenly arranged vertically is installed in one of the grooves; A base is provided below the inspection robot body, and the base includes a bottom plate, a rotating power component installed on the bottom plate, a gear installed below the bottom plate, and several guide wheels. The rotating power component drives the gear to rotate, and the guide wheel is rotatably installed in the groove of the track. When the gear rotates, it engages with the guide column, driving the guide wheel to move along the track groove.

8. The deep-sea mobile in-situ drilling system according to claim 7, characterized in that: There are three guide wheels, one and the gear are located on one side of the inspection track groove, and the other two are located on the other side of the inspection track groove.

9. The deep-sea mobile in-situ drilling system according to claim 1, wherein: The anti-sinking frame includes an upper frame body, a lower frame body and columns connecting the upper frame body and the lower frame body. The columns include cylindrical columns located at the corners and several I-shaped columns located between the cylindrical columns.

10. An underwater inspection method for an in-situ drilling system, characterized by: An in-situ drilling system capable of moving in the deep sea as described in any one of claims 1 to 9 is adopted, the inspection track is divided into a first track segment and a second track segment, the inspection robot body is controlled to move back and forth on the first track segment several times and then enter the second track segment and move back and forth several times, and inspection and monitoring are performed alternately on the first track segment and the second track segment.

11. The underwater inspection method of the in-situ drilling system according to claim 10, characterized in that: The inspection track is in the shape of a runway and is symmetrically divided into two halves along the width direction of the runway, namely the first track segment and the second track segment.

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