JP2905349B2 - Measuring robot for collecting bottom hole information - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a measurement robot for collecting information on a pit bottom, and can be used for collecting data on the bottom of a pit excavated for construction of oil wells, geothermal wells and gas wells, seismic exploration, and geological exploration. .

[0002]

BACKGROUND ART Conventionally, shafts have been formed by digging the ground for construction of oil wells, geothermal wells and gas wells, seismic surveys and geological surveys. Such a shaft is excavated by rotating an elongated moat pipe having an excavation bit attached to its tip. Muddy water is pumped into the trench. The muddy water descends from the ground through the inside of the moat pipe to the bottom of the well, is discharged to the outside of the moat pipe at the bottom of the well, and returns to the ground through between the surface of the moat pipe and the inside surface of the well. This allows
Unnecessary substances such as debris and earth and sand removed by a drill bit are lifted to the ground together with muddy water and discharged out of the pit. When the depth of the pit reaches about 5,000m underground, the mud at the bottom of the pit becomes high temperature and high pressure under the influence of geothermal and water pressure.

During drilling, it is necessary to collect information on the pit bottom such as torque and load applied to the digging bit, pressure and temperature of the pit bottom in real time. There is a downhole information collection device that transmits the information. Such underground information collection devices include a fixed type that is fixed near the excavation bit until excavation is completed, and a retrievable type that allows the device main body to be collected from the bottom during excavation. is there. The fixed type
A sensor and a device main body are incorporated in a bit sub, which is an auxiliary pipe used to connect a drill bit to a moat pipe. The retractable type has a sonde in which a sensor and an apparatus main body are incorporated. Since this sonde is separate from the bit sub, it can be lifted to the ground by a wire or the like.

[0004]

However, in the fixed type downhole information collecting device, since the sensor installed on the excavation bit is electrically connected directly, various data such as torque and load applied to the excavation bit are collected. On the other hand, there is a problem that even if the bottom of the pit becomes hot, it cannot be pulled up to the ground and evacuated, and is destroyed by heat. On the other hand, in the retractable type bottom hole information collection device, the sonde is pulled up from the bottom of the hole to the ground, so the device body can be prevented from being destroyed by heat. There is a problem that data cannot be collected near the excavation bit because the sensor on the excavation bit side cannot be electrically connected.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a measurement robot for collecting bottom hole information, which can collect data in the vicinity of a drill bit and in which a main part of the apparatus can be arbitrarily pulled up to the ground. is there.

[0006]

SUMMARY OF THE INVENTION The present invention relates to a measurement robot for collecting information on the bottom of a pit being drilled, the robot being fixed to the tip of a trench for excavation and having the tip. Having a sensor sub having a sensor that collects data in the vicinity of the part, and a sonde that can be moved up and down in the moat pipe,
Each of these Sensasabu and sonde, a ring-shaped antenna, and the radio communication means is provided to perform communication through the antenna, the sonde to the Sensasabu
Can be connected and separated, and the sensor sub and the
Wherein the antenna is disposed at a connection portion of the sensor and the sensor
By interconnecting the sub and the sonde,
The antennas are arranged to face each other.

Here, the sensor sub is a bit sub which is an auxiliary pipe for connecting the excavating bit to the moat pipe, in which a sensor and its auxiliary device are incorporated. Further, as the ring-shaped antenna, a directional antenna capable of radiating an electromagnetic wave along a cylindrical central axis, such as a loop antenna or a helical antenna, can be adopted.

Further, the present invention is characterized in that, in the measurement robot for collecting information of a shaft bottom, at least one of the sensor sub and the sonde is provided with a turbine generator.

Further, the present invention is characterized in that the measuring robot for collecting bottom hole information is provided with a levitation device for obtaining a buoyancy by accumulating a gas generated by a chemical reaction type gas generator in the sonde in a chamber. And

Further, in the present invention, in the measuring robot for collecting bottom hole information, a reference value previously stored in the sonde is compared with a measured value obtained by a sensor of the sensor sub, and the measured value is compared with the measured value. A danger detecting means for outputting a predetermined signal when the value is out of the range of the reference value is provided.

[0011] The present invention also provides the measurement robot for collecting bottom hole information, wherein the sonde has a power fluidic type throttle valve that switches two flow paths by changing the position of the switching section to change flow path resistance. A mud pulse generator is provided.

[0012]

According to the present invention, the sensor sub and the son
A wireless communication means for each of the
Since a ring-shaped antenna is provided for
A pair of ring-shaped antennas are arranged in close proximity. Besides, ream
In the closed state, these antennas will face each other.
The arrangement where the directivity of the ring antenna is most effective
In order to perform wireless communication, even underground with many bad conditions,
Wireless communication can be reliably performed. Therefore, the sensor
Sub-side and sonde-side electrical circuits are connected to each other by mechanical contact
Eliminates the need to connect, fixed to the end of the moat pipe
A sonde can be arbitrarily connected to and separated from the sensor sub.
No need for an electrical connection structure at the connection
The mechanical structure of the tie is also simplified. And the bottom information
If the main device of the collection measurement robot is installed on the sonde side,
When the downhole becomes hot, the sonde takes over from the sensor sub.
The sonde can be recovered on the ground because it can be separated
Therefore, destruction of the main device is prevented. this
Transmission device that transmits data from the sensor to the ground
And storage devices that store large amounts of data from sensors,
Expensive equipment is installed in the measurement robot for collecting bottom hole information
However, its consumption is minimized. And sonde
Is connected to the sensor sub so that the sensor
The output data is transferred to the sonde and provided on the sonde side.
Data collection activity on the ground using
Movement is achieved , thereby achieving the objective.

[0013]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an excavator 10 according to a first embodiment of the present invention.
The drilling rig 10 is a moat pipe 12 connecting a plurality of steel pipes 11.
It has. An excavation bit is attached to the tip of the moat pipe 12, and the bit 13 is rotated so that the pit 1 is dug. A measurement robot (hereinafter simply referred to as a robot) 2 for collecting downhole information according to the present invention is installed inside the tip of the moat pipe 12. On the other hand, on the ground, a mud pump 15
And a data processing device 16 and the like.

The muddy water pumping device 15 pumps muddy water from the ground side into the inside of the moat pipe 12, and discharges debris and earth and sand removed by the bit 13 to the ground by the muddy water. The muddy water also functions as cooling means for cooling the robot 2 heated by geothermal heat so as not to overheat.

The data processing device 16 is a computer that displays data collected by the robot 2 in real time and performs data analysis. The data processing device 16 includes a sensor (not shown) for detecting a mud pulse which is a pressure wave transmitted from the robot 2 and transmitted through the muddy water.
Is connected.

FIG. 2 shows the robot 2 in an enlarged manner. The robot 2 includes a drill bit 13 and a trench 12.
Is a retrieveable type having a sensor sub 3 connected therebetween and a sonde 4 movable up and down inside the moat pipe 12.

The sensor sub 3 has a cylindrical shape with a thick side wall 3A. As shown in FIG. 3, a pair of a bit load sensor 21 and a bit torque sensor 22 are provided in the vicinity of the bit 13 inside the side wall 3A of the sensor sub 3.
Is embedded together with the dedicated amplifier 23. The bit load sensor 21 and the bit torque sensor 22 are arranged on the same circumference at an angle of 90 degrees with respect to the center axis of the sensor sub 3. On the upper side wall 3A in FIG. 2 of the amplifier 23, as shown in FIG. 4, an internal temperature sensor 24 for detecting the temperature in the sensor sub 3 and an external temperature sensor 25 for detecting the temperature in the pit 1, An external pressure sensor 26 that detects the pressure in the pit 1 and a processing unit that performs signal processing such as digitizing data obtained by these sensors 24 to 25 and the like.
27 and embedded.

Inside the sensor sub 3, there is provided a generator 30 having a cylindrical outer shape. A turbine 31 is rotatably installed below the generator 30 in the figure. The mud flow rotates the turbine 31 to generate electric power in the generator 30. Above the generator 30 in the figure, another turbine 32 is rotatably installed. This turbine
32 is provided with a keyed hole 33.

The sound 4 is in the shape of an elongated round bar.
A generator 41 different from the generator 30 of the sensor sub 3 is provided at the lower end of the sonde 4 in the drawing. The generator 41 is provided with a propeller shaft 42 extending toward the turbine 32 so as to be rotatable. A key groove that fits with the keyed hole 33 of the turbine 32 is provided at the tip of the propeller shaft 42. Thereby, the propeller shaft 42 and the turbine 32 are fitted so as not to rotate with each other. When muddy water flows in the fitted state, the turbine 31 is driven to rotate and the generator
Power is generated at 41.

The sonde 4 is connected to the sensor sub 3
As shown in FIG. 5, a ring-shaped loop antenna 51, which is formed in a size that allows the propeller shaft 42 of the probe 4 to be inserted into the connecting portion 5 of the sensor sub 3 and the probe 4, 52 are provided. The loop antenna 51 is embedded in the rectifying plate 34 spanned between the side walls 3A of the sensor sub 3. A hole 35 through which a propeller shaft 42 of the sonde 4 can be inserted is formed in a central portion of the current plate 34 . The loop antenna 52 is embedded in the end 43 of the sensor 4 on the sensor sub 3 side. The end portion 43 has an end surface perpendicular to the central axis of the sound 4, and a hole 44 through which the propeller shaft 42 can be inserted is formed in this end surface.

Here, the propeller shaft 42 of the sonde 4 is inserted into the hole 35 of the rectifying plate 34 provided in the sensor
By connecting the sub 3 and the sonde 4 to each other , the loop antennas 51 and 52 are arranged to face each other, and
The central axes are automatically matched .

The loop antennas 51 and 52 are directional antennas formed by bending a rod-shaped conductor into a circular shape .
The sensor sub 3 and the sonde 4 have a wireless communication
A step is provided, and the processing unit is provided by the wireless communication means.
The data processed in 27 is converted to a radio frequency signal,
From the loop antenna 51 of Sasabu 3 has become so that transmitted towards the sonde 4. The transmitted radio frequency signal
Reception is possible with the loop antenna 52 of the sonde 4 .

FIG. 6 shows almost the entire sound 4. The sonde 4 includes a bow-shaped centralizer 45 projecting radially from the surface, an electronic device storage unit 60 for storing an electronic device for data processing, and a floating device 70 for floating from the pit bottom to the ground. A mud pulse generator 80 is provided for converting the obtained data into a muddy pressure pulse signal and transmitting it to the ground.

The centralizer 45 is formed by bending a plurality of leaf springs, and aligns the central axis of the sound 4 with the central axis of the moat pipe 12. With this centralizer 45,
When the sonde 4 introduced from the upper end of the moat pipe 12 reaches the bottom of the pit, the propeller shaft 42
It automatically fits into 32.

The electronic device housing section 60 is a heat-insulated hermetically sealed container for incorporating elements such as a high-temperature IC therein, and enables the elements to operate even in high-temperature, high-pressure muddy water.

The flotation device 70 has a gas generator 71 for generating a high-pressure gas by a chemical reaction, and a chamber 72 for storing the gas of the gas generator 71. Gas generator
Reference numeral 71 denotes a container for chemically reacting a plurality of substances, for example, baking soda and an acid.
And a pipe 74 for injecting a high-pressure gas generated by a chemical reaction into the upper portion of the chamber 72. The chamber 72 is a container formed by hollowing the inside of the sound 4, and a muddy water discharge port 75 is provided in a lower portion 72 A thereof. The time of data collection, the muddy water is filled into the chamber 72, Zon
De 4 is adapted to sink into the muddy water. On the other hand, when escaping from the bottom of the pit 1, the gas generator 71
The generated gas is injected, and the sonde 4 floats due to the buoyancy of the gas.

As shown in FIGS. 8 and 9, the mud pulse generator 80 is a power fluidic type throttle valve.
80A. The throttle valve 80A is driven by a columnar drive unit 81 installed inside the sonde 4. A straight flow path 82 and a bypass flow path 83 are formed around the drive unit 81. As shown in FIGS. 10 and 11, a switching section 84 is provided at the distal end of the driving section 81.
Is provided so as to be able to protrude and retract. The switching portion 84 is formed substantially in a wedge shape as a whole.

The straight flow path 82 extends linearly and has a low flow resistance. The bypass channel 83 has a U-shaped cross section communicating between two points upstream and downstream of the channel 82. The inlet 83A and the outlet 83B of the bypass channel 83 are both open toward the upstream side.

The switching section 84 switches the flow direction of the muddy water by protruding and retracting from the driving section 81, and switches the flow path from one of the straight flow path 82 and the bypass flow path 83 to the other.
That is, in a state where the switching unit 84 is submerged in the driving unit 81,
The muddy water flowing into the mud pulse generator 80 flows straight and is guided to the straight flow path 82. As a result, the muddy water flows linearly (see FIG. 8), and the flow resistance of the throttle valve 80A is reduced.

On the other hand, when the switching unit 84 projects from the driving unit 81, the muddy water is guided by the inclined surface of the switching unit 84 and is guided to the inlet 83A of the bypass passage 83. The muddy water that has entered the bypass flow path 83 is reversely injected upstream from the outlet 83B, and collides with the muddy water that flows into the mud pulse generator 80 (see FIG. 9). Due to this collision, the flow path resistance of the throttle valve 80A is configured to be extremely larger than when the switching section 84 is submerged.

As shown in FIG. 12, a driving mechanism 85 for driving the switching section 84 is built in the driving section 81. The drive mechanism 85 has a rod-shaped spring 86 that is long along the longitudinal direction of the drive unit 81, and a shaft 87 that is movably installed along the longitudinal direction of the drive unit 81. Shaft 87
Has a conical surface 87A formed at the distal end thereof, and reciprocates along the longitudinal direction of the drive unit 81 by a drive source such as a solenoid or a motor installed on the base end side. The rod-shaped spring 86 has a base end 86A on the right side in the figure fixed to the inner surface side of the drive section 81 and a distal end 86B on the left side in the figure that can be displaced in the radial direction of the drive section 81. The switching unit 84 is attached to the tip 86B of the head.

The bottom of the switching section 84 is urged toward the tip of the shaft 87 by a rod-shaped spring 86 so that the shaft 87
It comes in contact with the surface of the. Where the shaft
When the lever 87 is advanced toward the bar spring 86, the conical surface 87A of the shaft 87 causes the switching portion 84 to protrude outward. When the shaft 87 is retracted from this state, the switching unit
84 is immersed inside. As a result, a drive mechanism 85 that drives the switching unit 84 to reciprocate by reciprocating the shaft 87
Is configured.

FIG. 13 schematically shows the electric circuit 6 of the robot 2. The electric circuit 6 is divided into a detection processing unit 90 installed in the sensor sub 3 and a transmission processing unit 100 installed in the sonde 4. The detection processing unit 90 includes the sensors 21 and 22 and the dedicated amplifier 23 and the processing unit 27 described above.
The processing unit 27 converts a plurality of analog signals obtained by the sensor 21 and the like into serial digital signals.

The processing unit 27 includes a plurality of A / D converters 91 for converting analog signals from the sensor 21 and the like into digital signals.
A processing device 92 for organizing digital signals input in parallel from the A / D converter 91 and converting them into serial digital signals;
F for modulating the serial digital signal obtained by the processor 92
An M modulator 93 and a high-frequency driver 94 for generating a carrier wave for modulation are provided. Among them, the FM modulator 93 and the high-frequency driver 94 form a wireless communication unit on the sensor sub 3 side. The processing unit 27 transmits a serial digital signal, which is data obtained by the sensor 21 or the like, from the antenna 51 as a high-frequency signal.
The processing unit 27 includes a power supply circuit that supplies a stable DC voltage to the dedicated amplifier 23 of the sensor 21 and the processing unit 27.
The power supply circuit 95 is provided with power from the generator 30.

The transmission processing unit 100 includes a signal processing unit 110 for performing processing such as demodulating a high-frequency signal received from the processing unit 27 by the antenna 52, and a signal processing unit 110.
Mud pulse generator 8 based on the signal output from 110
And a control unit 120 for electrically controlling the zero drive mechanism 85.

The signal processing unit 110 includes a high-frequency amplifier 111 for amplifying the signal received by the antenna 52, an FM demodulator 112 for restoring the modulated digital signal, and a drive for the mud pulse generator 80 for demodulating the demodulated digital signal. It has a processing device 113 for converting the speed to a speed corresponding to the speed, and a monitoring circuit 114 for monitoring a digital signal input to the processing device 113. Of these, the high-frequency amplifier 111 and FM
The demodulator 112 forms a wireless communication unit on the sound 4 side.

The control unit 120 includes a signal converter 121 for converting the weak electric signal transmitted from the processor 113 into a power signal to be supplied to the mud pulse generator 80,
And a power supply circuit 122 for supplying power to the power supply 121.

The monitoring circuit 114 of the signal processing unit 110
This is a danger detecting means for determining whether the sonde 4 is in a danger state. As shown in FIG. 14, the monitoring circuit 114 has an input unit 131 for inputting a digital signal from the processing unit 113, and whether the sonde 4 is in a dangerous state based on the digital signal sent from the input unit 131. A judgment circuit 132 for judging whether or not a command signal is generated, a command signal generation unit 133 for generating a predetermined command signal, and an output of one of the command signal generation unit 133 and the input unit 131. And an output unit 135 for returning the output of the selection unit 134 to the processing device 113.

[0039] Among determination circuit 132, a storage unit 136 in advance predetermined reference value is stored, a holding portion 137 for keep one end holds the digital signal from the input unit 131 is the measured value The value of the digital signal from the holding unit 137 and the storage unit 13
6 are equipped with a comparison unit 138 for comparing the reference value of
You . Here, when the value of the digital signal, for example, the temperature value, the pressure value, or the torque value is out of the range of the reference value, the comparing unit 138 determines that the state is in danger, and the selecting unit 134
After outputting a danger signal to the generator and detecting a drop in the voltage of the generator 41 to confirm that the muddy water flow has stopped,
70 is activated. Then, the selection unit 134 having received the danger signal outputs the command signal from the command signal generation unit 133 to the output unit 135. This command signal is transmitted to the ground by the mud pulse generator 80 to notify the danger of the sonde 4 and request that the muddy water flow be stopped.

The signal processing unit 110 is provided with a power supply circuit 115 for supplying a stable DC voltage to the high-frequency amplifier 111, the FM demodulator 112, and the like. This power supply circuit 115
Has a secondary battery that backs up the memory of the storage unit 136 and receives power from the generator 41 together with the power supply circuit 122 of the control unit 120.

In this embodiment, the danger of the sonde 4 is avoided according to the procedure of the flowchart shown in FIG. That is, when the robot 2 in step S100 is started, the process proceeds to step S101, after measuring the temperature and pressure such as by the temperature sensor 25 and pressure sensor 26, etc., all measured values obtained in step S102 is specified reference value It is determined by the determination circuit 132 whether it is within the range. Here, when all the measured values are within the prescribed reference values, the process returns to step S101, and the measurement is continued.
On the other hand, if at least one of the measured values is outside the prescribed reference value, the process proceeds to step S103, and it is detected whether or not muddy water is flowing inside the moat pipe 12. If the muddy water is flowing, the process proceeds to step S104, where a request is made to stop the muddy water flow on the ground, and steps S103 to S104 are repeated until the flow of the muddy water is stopped. When the flow of the muddy water does not start, or when the muddy water flow is stopped by the stop request, the process proceeds to step S105, the levitation device 70 is activated, the sonde 4 is raised to avoid danger, and the process proceeds to step S106. To complete the operation. In addition,
Downhole 1 with pressure sensor 26 and bit torque sensor 22
By catching the abnormal vibration inside, danger due to the abnormal vibration can be avoided.

According to the above-described embodiment, the following effects can be obtained. That is, the sensor sub 3 and the sonde 4
Are provided with wireless communication means, and their connection parts
Provided with ring-shaped antennas 51 and 52
In this case, a pair of ring-shaped antennas 51 and 52 are
In addition, when connected, these antennas 51, 52
Oppose each other, and the directivity of the ring antennas 51 and 52 is the most effective.
This is an arrangement that causes many bad conditions in performing wireless communication.
Wireless communication can be performed reliably even in the bottom sediment.
Therefore, the electric circuits on the sensor sub 3 side and the sonde 4 side
No longer need to be connected to each other by mechanical contact.
The sensor sub 3 fixed to the tip of the
Can be arbitrarily connectable and separable,
No air connection structure is required, simplifying the mechanical structure of the connecting part
Can be And a measurement robot for collecting
If the main equipment of the unit 2 is installed on the sonde 4 side,
, The sonde 4 can be arbitrarily separated from the sensor sub 3
It can be recovered on the ground at a distance, so there is no
Can be prevented. Therefore, from the sensor of the sensor sub 3
Such as a mud pulse generator 80 that transmits data to the ground
An expensive device is installed in the measurement robot 2 for collecting bottom hole information.
However, the consumption can be minimized. So
Then, by connecting the sonde 4 to the sensor sub 3,
The data detected by the sensor sub 3 is transferred to the sonde 4.
And a mud pulse generated on the sonde 4 side
The above-mentioned data is transmitted to the ground by the device 80, and the bottom
Data can be collected in real time.

Further, since each of the sensor sub 3 and the sonde 4 is provided with the generators 30 and 41 for generating electric power by the muddy water flow, even if the power is not supplied to the robot 2 from the ground, the bottom of the pit 1 is semi-permanently provided. Information can be continuously collected.

Further, since the danger detecting means for judging whether or not the sound 4 is in danger is provided, the danger can be notified to the ground before the sound 4 is destroyed. The sonde 4 can be prevented from being destroyed by, for example, lifting it up to the ground.

Further, a chemical reaction type floating device 70 is attached to the sonde 4.
Is provided, and the levitation device 70 is activated by a command from the danger detection means. Therefore, even if the danger notification signal of the danger detection means is overlooked on the ground, the sonde 4 automatically rises, Can be prevented beforehand.

Further, the mud pulse generator 80 includes a power fluidic type throttle valve 80A that switches the flow paths 82 and 83 by moving the muddy water by protruding and retracting the switching section 84 to change the flow path resistance. Therefore, the mud pulse generator 80 can flow a larger amount of muddy water than the conventional mud pulse generator, and the structure can be simplified, the durability against abrasion due to muddy water can be improved, and the driven switching unit 84 can be driven. Therefore, the power consumption of the mud pulse generator 80 can be reduced.

FIG. 16 shows a second embodiment of the present invention. This embodiment is different from the first embodiment in that the throttle valve 80 is used.
A reciprocating drive unit 81 provided in A
It is what it was. That is, inside the driving unit 181,
A seesaw-shaped arm 186 and a round bar-shaped rotating shaft 187 are arranged adjacent to each other. The arm 186 has an intermediate portion 186A
Are pivotally supported on the inner side surface of the drive section 181 and are swingable. A switching section 84 is attached to the right end 186B of the arm 186 in the drawing. On the other hand, a cam follower pin 188A extending toward the rotation shaft 187 is rotatably attached to the opposite end 186C.

The rotating shaft 187 is a rotating body whose end (not shown) is directly connected to a driving source such as a motor. Rotary shaft 187
The intermediate portion is rotatably supported by a bearing 181A of the drive section 181. The drive source of the rotating shaft 187 is a normal rotation operation for rotating the rotating shaft 187 in one direction to a predetermined rotation angle,
When the 187 reaches a predetermined rotation angle, the inversion operation of rotating the rotation shaft 187 in the opposite direction and returning to the original rotation position is alternately repeated. The right end 187A of the rotating shaft 187 in the drawing
The groove type cam 188B which engages with the cam follower pin 188A of the arm 186 is attached to the arm. The grooved cam 188B is shown in FIG.
As shown in FIG. 7, a circular rotary plate 189A is provided with a plurality of elongated grooves 189B through which the cam follower pins 188A are inserted. The groove 189B has an end 189C near the center of the rotating plate 189A.
From the center of the rotary plate 189A to an end 189D far from the center thereof. By driving with this groove type cam 188B drive source, the switching unit
84 are going to sink.

In this embodiment, the same operation and effect as those of the first embodiment can be obtained. In addition, the switching unit 84 is driven by a driving source via the grooved cam 188B through which the cam follower pin 188A is inserted. Since it is forcibly protruded and retracted, it is possible to add an effect that it is possible to reduce the possibility of malfunction.

FIG. 18 shows a third embodiment of the present invention. This embodiment is different from the first embodiment in that the throttle valve 80 is used.
A, the reverse injection type bypass channel 83 provided in A is replaced with a vortex type bypass channel.
283. That is, the bypass flow path 283 is a cylindrical space formed inside the sound 4, and of the side faces 284 and 285 surrounding the bypass flow path 283, the outer side face 284 is formed.
Has a female screw-shaped spiral groove 286, and the inner side surface 285
Is provided with a male screw-shaped spiral groove 287. Detour channel
The inlet 283A and the outlet 283B of the 283 are provided with a plurality of vanes 288 for guiding the muddy water in the bypass flow path 283 into a vortex. As shown in FIG. 19, the vane 288 connects the side edges of the spiral grooves 286 and 287 to each other and extends spirally.

In this embodiment as well, the first and second embodiments
The same action and effect as in the second embodiment can be obtained, and the muddy water flowing in the bypass passage 283 by the spiral grooves 286, 287 and the vanes 288 becomes a vortex, giving a large flow resistance to the bypass passage 283. Can be added.

FIG. 20 shows a fourth embodiment of the present invention. In the present embodiment, the bypass flow path 283 with the vane 288 provided in the second embodiment is replaced with a vortex-type bypass flow path 383 without a vane. That is, a straight introduction path 384 extending straight is provided on the inlet 383A side of the bypass flow path 383. The introduction path 384 is wide and expanded in a direction orthogonal to the flow of the muddy water. Thus, the muddy water flowing in the introduction path 384 is not restricted from moving in the circumferential direction, and easily forms a vortex by the spiral grooves 386 and 387 of the bypass flow path 383.

In this embodiment as well, the above first to first embodiments are described.
The same operation and effect as those of the third embodiment can be obtained, and there is no need to form a vane, so that an effect that it can be easily manufactured can be added.

FIG. 21 shows a fifth embodiment of the present invention. This embodiment is different from the first to third embodiments in that the protruding / submerging type switching unit 84 provided in the throttle valve 80A is replaced with a rotary type switching unit 484.
It is what it was. That is, the straight flow path 482 is
It is formed in multiple numbers so as to surround the 481 like a lotus root. A substantially conical switching section is provided at the inlet of this straight flow path 482.
484 are located. The switching section 484 is provided with a plurality of communication holes 48.
4A is provided in the form of a lotus root, and is rotated by a predetermined angle by a shaft 487 directly connected to the prime mover,
It opens and closes 482. An outlet portion 484B of each communication hole 484A has a reverse flow path 48 communicating with the outside of the switching portion 484.
3 are provided. The exit of the retrograde flow path 483 faces upstream. Here, with the straight flow path 482 opened,
The mud enters the straight flow path 482 through the communication hole 484A, so that the flow path resistance of the mud is reduced. On the other hand, when the straight flow path 482 is closed, the muddy water flows backward from the backward flow path 483 toward the upstream, so that the flow path resistance is increased.

In this embodiment as well, the above first to first embodiments are described.
The same operation and effect as those of the fourth embodiment can be obtained. In addition, since the switching section 484 is rotated to open and close the straight flow path 482, the effect that the structure is simple and the manufacturing is easy can be added. it can.

The present invention is not limited to the above-described embodiments, but includes the following modifications. That is, the ring-shaped antenna is not limited to the loop antennas 51 and 52, and may be, for example, a helical antenna.

Further, as the wireless communication means, the first
Not limited to the FM modulation method shown in the embodiment, for example,
An AM modulation method or the like may be used, and a method and a format related to communication such as modulation may be appropriately selected for implementation.

In the first embodiment, the turbine 32 for driving the generator 41 of the sonde 4 is provided on the sensor sub 3 side. However, both the generator 41 and the turbine 32 may be provided on the sonde 4 side. . In this case, since the turbine 32 is exposed to the outside of the sound 4 and is easily damaged, it is desirable to provide a cylindrical cover that covers the periphery.

Further, it is not necessary to provide a generator for each of the sensor sub and the sonde, and an AC generator may be provided for one and power may be supplied to the other via an electromagnetic coupler or the like.

Further, the gas generator is not limited to the one in which baking soda and an acid are chemically reacted.
What burns explosives, such as an explosive, may be used.

[0061]

As described above, according to the present invention, data detected by a sensor installed on the side of the excavation bit can be collected even in the case of the retrieveable type.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view showing an entire first embodiment of the present invention.

FIG. 2 is an enlarged side view showing a sensor sub and a sonde of the embodiment.

FIG. 3 is an enlarged sectional view taken along line S3-S3 of FIG. 2;

FIG. 4 is an enlarged sectional view taken along line S4-S4 of FIG. 2;

FIG. 5 is an enlarged sectional view showing the loop antenna according to the embodiment.

FIG. 6 is a side view showing the whole sound of the embodiment.

FIG. 7 is an enlarged sectional view showing the levitation device of the embodiment.

FIG. 8 is an enlarged sectional view showing an open state of the mud pulse generation mechanism of the embodiment.

FIG. 9 is an enlarged sectional view showing a closed state of the mud pulse generation mechanism of FIG. 8;

FIG. 10 is a longitudinal sectional view of FIG.

FIG. 11 is a longitudinal sectional view of FIG. 9;

FIG. 12 is an enlarged sectional view showing a driving mechanism of the mud pulse generator of FIG.

FIG. 13 is a block diagram showing an electric circuit of the embodiment.

FIG. 14 is a block diagram showing danger detecting means of the embodiment.

FIG. 15 is a flowchart for explaining the operation of the embodiment.

FIG. 16 is a view corresponding to FIG. 12, showing a second embodiment of the present invention.

FIG. 17 is an enlarged sectional view taken along line S17-S17 of FIG. 16;

FIG. 18 is a view corresponding to FIG. 8 showing a third embodiment of the present invention.

FIG. 19 is an enlarged perspective view showing a main part of the embodiment.

FIG. 20 is a view corresponding to FIG. 8 showing a fourth embodiment of the present invention.

FIG. 21 is a view corresponding to FIG. 8 showing a fifth embodiment of the present invention.

[Explanation of symbols]

 1 Mine 2 Measuring robot for collecting bottom information 3 Sensor sub 4 Sonde 12 Drill pipe 21 Bit load sensor 22 Bit torque sensor 24 Internal temperature sensor 25 External temperature sensor 26 External pressure sensor 31, 32 Turbine 30, 41 Generator 51, 52 Ring Loop antenna 70 is a helical antenna 70 levitating device 80 mud pulse generator 93 FM modulator constituting wireless communication means 94 high frequency driver constituting wireless communication means 111 high frequency amplifier constituting wireless communication means 112 constituting wireless communication means FM demodulator 114 Monitoring circuit as danger detection means

Claims (5)

(57) [Claims] An underground information collecting measurement robot for collecting information of a bottom of a digging excavation, wherein the measurement robot is fixed to a tip of a moat for excavation and collects data in the vicinity of the tip. A sensor sub having a sensor, and a sonde movable up and down inside the moat pipe, each of these sensor sub and sonde being provided with a ring-shaped antenna and a radio communication for communicating through the antenna Means are provided,
The sonde can be connected to and separated from the sensor sub.
In front of the sensor sub and the connecting part of the sonde.
The antenna is arranged, and the sensor sub and the zon are arranged.
The antennas are opposed to each other by connecting
A measurement robot for collecting information on a shaft bottom, which is installed . 2. The underground information collecting measurement robot according to claim 1, wherein at least one of the sensor sub and the sonde includes a turbine generator. 3. The measuring robot according to claim 1, wherein said sonde is a floating device for obtaining buoyancy by accumulating gas generated in a chemical reaction type gas generating device in a chamber. A measurement robot for collecting bottom hole information, comprising: 4. The underground information collecting measurement robot according to claim 1, wherein said sonde includes a reference value stored in advance and a measurement value obtained by a sensor of said sensor sub. And a danger detecting means for outputting a predetermined signal when the measured value is out of the range of the reference value. 5. The measurement robot according to claim 1, wherein the sonde changes two flow paths by changing a flow path resistance when the switch section protrudes and retracts. A measurement robot for collecting bottom hole information, comprising a mud pulse generator having a power fluidic type throttle valve.