KR20200063488A - Embedded directional drilling robot for shallow drilling and exploration and drilling system - Google Patents

Abstract

Disclosed are an embedded directional drilling robot for shallow drilling and exploration, and a drilling system. Embodiments of the present invention provide the embedded directional drilling robot having directionality and biomimicking a biological structure and a drilling method of moles, and the drilling system. The embedded directional drilling robot according to the embodiment of the present invention includes: a drilling unit; a direction providing unit controlling the direction of the drilling unit; a link structure including links corresponding to a biological structure of the moles; and a control unit which automatically controls movement of the link structure and the forward and backward movement of the drilling unit by controlling at least one motor physically connected to the link structure.

Description

Embedded directional drilling robot for shallow drilling and exploration and drilling system}

The present invention relates to a drilling robot, and more specifically, to an embedded directional drilling robot having a directionality and biomimetic (biomimetic) the biological structure and excavation method of the mole.

Drilling technology is used in various fields such as exploration and development of energy resources, exploration of mineral resources, groundwater development, and civil engineering, and recently, technology development has been conducted to utilize it in extreme regions and space. Drilling technology is divided into deep drilling for exploration and development of resources and deep drilling with a depth of up to 200~300m depending on the target depth.

Cheonbu drilling is closely related to civil construction, and Cheonbu drilling can be carried out for sampling, ground investigation, and soft ground improvement.

Existing drilling systems must be accompanied by large equipment such as rigs, water filtering and circulation systems, and additional pipes must be inserted at certain depths depending on the length of the pipes connected to the Bottom Hole Assembly (BHA), which causes the manpower due to ancillary equipment. And there is a problem that is expensive. In addition, the existing large equipment may be subject to geographical limitations such as mountainous and extreme areas.

Accordingly, a need arises for a new type of compact drilling system with directionality.

The present invention relates to an embedded small-sized robot having a directionality, and proposes a drilling robot that is biomimetic (biomimetic) of the biological structure and excavation method of moles.

Embodiments of the present invention provide an embedded directional drilling robot and a drilling system that has directionality and mimics the biological structure and drilling method of moles.

An embedded directional drilling robot according to an embodiment of the present invention includes a drilling unit; A direction providing unit that controls the direction of the drilling unit; A link structure including links corresponding to the biological structure of the mole; And a control unit controlling at least one motor physically connected to the link structure to automatically control the movement of the link structure and the front and rear movements of the drilling unit.

The drilling unit corresponds to the head of the mole, and the link structure may correspond to the biological structure of movement of the shoulder blades and forefoot of the mole.

The link structure includes a first link corresponding to the shoulder blade, a second link corresponding to the forefoot, a third link connected to one side of the first link and one side of the second link, and the second link A fourth link connecting one side and the drilling unit may be included.

The control unit controls the rotation direction of the at least one motor in a first direction to control the movement of the link structure so that the drilling unit moves forward, and controls the rotation direction of the at least one motor in a second direction to The movement of the link structure may be controlled such that the second link moves forward while the drilling unit moves backward.

The direction control unit may control the direction of the drilling unit using a plurality of linear actuators.

Further, the drilling robot according to an embodiment of the present invention may further include a plurality of sensors for measuring sensing data for estimating direction information and position information of the drilling robot.

Drilling system according to an embodiment of the present invention includes a drilling robot; And a control device for controlling and monitoring the drilling robot, wherein the drilling robot includes a drilling unit; A direction providing unit that controls the direction of the drilling unit; A link structure including links corresponding to the biological structure of the mole; And a control unit for automatically controlling the movement of the link structure and the forward and backward movement of the drilling unit by controlling at least one motor physically connected to the link structure based on a control signal received from the control device.

The drilling unit corresponds to the head of the mole, and the link structure may correspond to the biological structure of movement of the shoulder blades and forefoot of the mole.

The link structure includes a first link corresponding to the shoulder blade, a second link corresponding to the forefoot, a third link connected to one side of the first link and one side of the second link, and the second link A fourth link connecting one side and the drilling unit may be included.

The control unit controls the rotation direction of the at least one motor in a first direction to control the movement of the link structure so that the drilling unit moves forward, and controls the rotation direction of the at least one motor in a second direction to The movement of the link structure may be controlled such that the second link moves forward while the drilling unit moves backward.

The drilling robot further includes a plurality of sensors that measure sensing data for estimating direction information and position information of the drilling robot, and the control device is an interaction data value of sensing data measured by the plurality of sensors. By analyzing, it is possible to estimate directional information and position information of the drilling robot.

According to embodiments of the present invention, it is possible to provide an embedded directional drilling robot having directionality and biomimicking the biological structure and excavation method of moles.

According to embodiments of the present invention, an embedded directional drilling robot can solve environmental problems caused by discharge of waste water and indiscriminate drilling in a large area when using large equipment. For example, it is possible to work in mountainous and sloping areas.

According to the embodiments of the present invention, it is possible to minimize operating manpower and cost through automation, improving workability in an environment that is difficult to access, such as space and polarization through miniaturization.

According to embodiments of the present invention, there is no need for additional pipelines depending on the depth of the rig installation or the depth of a large structure, excavation in various positions through directional drilling is possible, and the range of the workable area can be widened. For example, the present invention enables exploration of resources and space in other planets such as the moon and Mars.

According to embodiments of the present invention, various functions such as landmine detection and resource exploration may be performed according to a sensor additionally mounted on a drilling robot.

1 shows a conceptual configuration for a drilling system according to an embodiment of the present invention.
Figure 2 shows a configuration for a drilling robot according to an embodiment of the present invention.
Figure 3 shows an exemplary view for explaining the link structure corresponding to the biological structure of the mole.
Figure 4 shows an exemplary view for explaining the direction providing unit and the moving means.
5 shows an exemplary view for explaining a drilling process of the drilling robot of the present invention.
6 shows an exemplary view for explaining the drilling process of FIG. 5.

Advantages and features of the present invention, and methods for achieving them will be clarified with reference to embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only the present embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains. It is provided to completely inform the person having the scope of the invention, and the present invention is only defined by the scope of the claims.

The terminology used herein is for describing the embodiments, and is not intended to limit the present invention. In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase. As used herein, "comprises" and/or "comprising" refers to the components, steps, operations, and/or elements mentioned above of one or more other components, steps, operations, and/or elements. Presence or addition is not excluded.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used as meanings commonly understood by those skilled in the art to which the present invention pertains. In addition, terms that are commonly defined in the dictionary are not ideally or excessively interpreted unless specifically defined.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. The same reference numerals are used for the same components in the drawings, and duplicate descriptions for the same components are omitted.

Summary of the Invention Embodiments of the present invention are directed to providing an embedded directional drilling robot that has directionality and mimics the biological structure and excavation method of moles.

Here, the drilling robot of the present invention can be divided into a front body that mimics the biological structure and excavation method of the mole and a rear body that performs direction control, movement, fixation, and post-processing functions.

The front body may include a drilling unit for excavation, a link structure corresponding to the biological structure of movement of the forefoot and shoulder blades of the mole, and at least one motor for automatically controlling the movement of the link structure and drilling unit.

The present invention will be described in detail with reference to FIGS. 1 to 6.

1 shows a conceptual configuration for a drilling system according to an embodiment of the present invention.

As shown in Figure 1, the drilling system of the present invention includes a drilling robot 100 and a control device 200, the drilling robot 100 includes an embedded directional drilling platform and an underground location recognition system, the control device 200 may include a terrestrial-underground communication and monitoring system.

The drilling robot 100 is designed by biomimetic the biological structure and excavation method of the mole, the direction is controlled through control by the control device 200, and a plurality of sensors, for example, three 3-axis With a gyroscope, sensing data measured by a three-axis gyroscope can be provided as a control device.

At this time, the drilling robot 100 may control excavation, movement, and direction adjustment based on a control signal received through the control device 200.

Furthermore, if the drilling robot 100 is equipped with a sensor for detecting a mine or a resource for detecting a mine, the sensor may detect a mine or detect a resource using the sensor, and may provide such sensing information as a control device.

The control device 200 provides a control signal input by a user operating the drilling robot 100 to a drilling robot through wired communication or wireless communication, and is measured by a plurality of sensors received from the drilling robot 100 The received sensing data is received to estimate directional information and position information of the drilling robot.

Here, the control device 200 may estimate the directional information and the position information of the drilling robot 100 by analyzing the interaction data between the sensing data of each of the plurality of sensors.

For example, the control device 200 is equipped with a three-axis gyroscope on the front part, the middle part and the back part of the drilling robot, respectively, and when sensing data sensed by three three-axis gyroscopes is received, the middle part Based on the sensing data of the 3-axis gyroscope, the direction data can be estimated by analyzing the interaction data values between the sensing data of the 3-axis gyroscope provided in the front part, and the 3-axis gyroscope is provided in the middle part. Based on the sensing data, it is possible to estimate the location information for measuring the location in the ground by analyzing the interaction data value between the sensing data of the 3-axis gyroscope provided at the back.

In addition, when sensing information for landmine detection or resource detection is received from the drilling robot 100, the control device 200 may map the estimated location information to the location of the detected landmine or resource and provide it to the user.

The drilling robot according to the present invention will be described with reference to FIGS. 2 to 6 as follows.

Figure 2 shows a configuration for a drilling robot according to an embodiment of the present invention, Figure 3 shows an exemplary view for explaining a link structure corresponding to the biological structure of the mole, Figure 4 is a direction providing unit and It shows an exemplary diagram for explaining a moving means.

2 to 4, the drilling robot 100 according to an embodiment of the present invention moves with the front body including the drilling unit 110 and at least one or more motors 115 and link structures 111 to 114 It is composed of a rear body including a means 130, a fixing means 140, a debris processing means 150 and sensors 160.

The drilling unit 110 and the link structures 111 to 114 and at least one motor 115 may be designed to mimic the biological structure and excavation method of the mole, and the drilling unit 110 corresponds to the head of the mole, The link structures 111 to 114 correspond to the forelimb, humerus, scapula and clavicle of the mole, and at least one motor 115 corresponds to the muscle of the mole.

A mole digs the ground with its forehead reaching out while the head is squeezing and pushes the dug back as the head opens and arms open. The drilling robot in the present invention is implemented through the physical structure of at least one of the motor 115, the link structures 111 to 114, and the drilling unit 110.

That is, as shown in Figure 3, the link structure (111 ~ 114) is a first link (111) corresponding to the shoulder blade (scapula) of the mole, the second link (112) corresponding to the forefoot (forelimb), the A third link 113 connected to one side of the first link 111 and one side of the second link 112 and corresponding to the humerus, and a drilling unit 110 connected to one side of the second link 112 And includes a fourth link 114 corresponding to the clavicle (clavicle), such a link structure (111 ~ 114) is made of a symmetrical structure. In addition, the fourth link 114 and the drilling unit 110 may be connected through separate links for physically connecting the link structures 111 to 114 and the drilling unit 110.

Here, the first link 111 corresponding to the shoulder blade is physically connected to at least one motor 115, for example, two motors, and the link structures 111 to 114 according to the rotation direction of the motor 115 And the movement of the drilling unit 110 can be automatically controlled.

For example, when a control unit (not shown) provided in the drilling robot receives a control signal from the control device, the rotation direction of the motor 115 is based on the received control signal in the first direction (clockwise or counterclockwise). By controlling with, the second link 112 corresponding to the forefoot is automatically controlled to move forward while the drilling unit 110 moves forward while moving in the outer direction, and the rotation direction of the motor 115 is rotated in the second direction (counterclockwise or By controlling in a clockwise direction, the second link 112 corresponding to the forefoot may be automatically controlled to move backward while the drilling unit 110 moves backward. Of course, the rotation direction of the motor 115 may be controlled differently depending on the link structure provided on the left side and the link structure provided on the right side.

That is, the drilling unit 110 and the link structure (111 to 114) is controlled together by the movement of the rotational direction of the motor, the second link 112 corresponding to the forefoot moves forward when the drilling unit corresponding to the head ( 110) is automatically moved to the rear, and when the second link 112 is rotated in the left and right directions, the drilling unit 110 is automatically moved to the front.

The direction providing unit 120 controls the direction of the drilling robot through control by the control unit.

Here, the direction providing unit 120 may control the direction of the drilling unit or the direction of the drilling robot using a plurality of linear actuators.

The direction providing unit 120 functions as a contraction and relaxation function during excavation by simultaneous movement to enable efficient excavation, and serves to adjust the direction of the front body through independent movement, and each actuator is a universal joint. It can be connected to the front body to counteract the effect of play caused by rotation.

The moving means 130 is a means for moving the drilling robot (locomotion), the fixing means 140 is a means for locking the drilling robot when the drilling robot excavates (locking), the debris processing means 150 is drilling It is a means for processing the debris generated by excavation by the unit 110 to the back of the drilling robot.

The sensors 160 measure sensing data for estimating the direction information and the position information of the drilling robot, and may be provided at the front part, the middle part, and the back part of the drilling robot, respectively.

At this time, the sensors 160 may include a three-axis gyroscope.

Furthermore, the sensors 160 may include a sensor for detecting land mines and a sensor for detecting resources, and the location of each sensor may be determined in advance according to each purpose.

Further, the drilling robot of the present invention may include a communication means for performing wireless communication with the control device when performing wireless communication with the control device.

5, the drilling robot performs excavation using a motor, a link structure, and a drilling unit when the drilling robot is fixed by the fixing means, releases the fixing to move after performing the excavation process, and forwards Adjust movement and direction. Then, the debris generated by excavation is treated using the debris processing means.

The drilling process of the drilling robot is shown in FIG. 6, when the drilling robot moves to the excavation point, the link structures 111 to 114 are controlled through the direction control of the motor, and the drilling unit 110 moves forward and moves to the forefoot. When the corresponding second link 112 is located on the left and right side, excavation is performed, and when the soil is dug by the drilling unit 110, the rotation direction of the motor 115 is controlled in the opposite direction to send the dug back. As the structures 111 to 114 are controlled, the second link 112 corresponding to the forefoot moves forward, and at the same time, the drilling unit 110 automatically moves to the rear, and the rotation direction of the motor 115 again in the opposite direction While being controlled, the second link 112 rotates to the left and right, while the soil moves to the side of the body, so that the drilling unit 110 comes forward. As this process is repeated, the drilling method of the mole can be implemented as a drilling robot.

The system or device described above may be implemented with hardware components, software components, and/or combinations of hardware components and software components. For example, the systems, devices, and components described in the embodiments include, for example, processors, controllers, arithmetic logic units (ALUs), digital signal processors (micro signal processors), microcomputers, and field programmable arrays (FPAs). ), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions, may be implemented using one or more general purpose computers or special purpose computers. The processing device may run an operating system (OS) and one or more software applications running on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to the execution of the software. For convenience of understanding, a processing device may be described as one being used, but a person having ordinary skill in the art, the processing device may include a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that may include. For example, the processing device may include a plurality of processors or a processor and a controller. In addition, other processing configurations, such as parallel processors, are possible.

The software may include a computer program, code, instruction, or a combination of one or more of these, and configure the processing device to operate as desired, or process independently or collectively You can command the device. Software and/or data may be interpreted by a processing device, or to provide instructions or data to a processing device, of any type of machine, component, physical device, virtual equipment, computer storage medium or device. , Or may be permanently or temporarily embodied in the transmitted signal wave. The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored in one or more computer-readable recording media.

As described above, although the embodiments have been described by a limited embodiment and drawings, those skilled in the art can make various modifications and variations from the above description. For example, the described techniques are performed in a different order than the described method, and/or the components of the described system, structure, device, circuit, etc. are combined or combined in a different form from the described method, or other components Alternatively, even if replaced or substituted by equivalents, appropriate results can be achieved.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (11)

Drilling unit;
A direction providing unit that controls the direction of the drilling unit;
A link structure including links corresponding to the biological structure of the mole; And
Control unit for automatically controlling the movement of the link structure and the front and back movement of the drilling unit by controlling at least one motor physically connected to the link structure
Drilling robot comprising a.
According to claim 1,
The drilling unit
Corresponds to the head of the mole,
The link structure
Drilling robot, characterized in that corresponding to the biological structure of the movement of the shoulder blades and forefoot of the mole.
According to claim 2,
The link structure
A first link corresponding to the shoulder blade, a second link corresponding to the forefoot, a third link connected to one side of the first link and one side of the second link, and the one side and the drilling of the second link Drilling robot, characterized in that it comprises a fourth link connecting the unit.
According to claim 3,
The control unit
The direction of rotation of the at least one motor is controlled in a first direction to control the movement of the link structure so that the drilling unit moves forward, and the direction of rotation of the at least one motor is controlled in a second direction to allow the drilling unit to Drilling robot characterized in that to control the movement of the link structure so that the second link moves forward while moving backward.
According to claim 1,
The direction control unit
Drilling robot, characterized in that for controlling the direction of the drilling unit using a plurality of linear actuators (linear actuator).
According to claim 1,
A plurality of sensors for measuring the sensing data for estimating the direction information and position information of the drilling robot
Drilling robot characterized in that it further comprises.
Drilling robot; And
Control device for controlling and monitoring the drilling robot
Including,
The drilling robot
Drilling unit;
A direction providing unit that controls the direction of the drilling unit;
A link structure including links corresponding to the biological structure of the mole; And
A control unit for automatically controlling the movement of the link structure and the front and rear movements of the drilling unit by controlling at least one motor physically connected to the link structure based on a control signal received from the control device.
Drilling system comprising a.
The method of claim 7,
The drilling unit
Corresponds to the head of the mole,
The link structure
Drilling system, characterized in that corresponding to the biological structure of the movement of the shoulder blades and forefoot of the mole.
The method of claim 8,
The link structure
A first link corresponding to the shoulder blade, a second link corresponding to the forefoot, a third link connected to one side of the first link and one side of the second link, and the one side and the drilling of the second link A drilling system comprising a fourth link connecting the units.
The method of claim 9,
The control unit
The direction of rotation of the at least one motor is controlled in a first direction to control the movement of the link structure so that the drilling unit moves forward, and the direction of rotation of the at least one motor is controlled in a second direction to allow the drilling unit to Drilling system characterized by controlling the movement of the link structure so that the second link moves forward while moving backward.
The method of claim 7,
The drilling robot
A plurality of sensors for measuring the sensing data for estimating the direction information and position information of the drilling robot
Further comprising,
The control device
Drilling system characterized in that to estimate the directional information and position information of the drilling robot by analyzing the interaction data value of the sensing data measured by the plurality of sensors.

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