US 12,312,950 B2
In-situ detection robot and detection method for geological information without disturbance of in-situ stress
Hengxing Lan, Xi'an (CN); Mervyn Lan, Xi'an (CN); Bolong Li, Xi'an (CN); Zhonghong Dong, Xi'an (CN); Hongbing Zhang, Xi'an (CN); Weifeng Sun, Xi'an (CN); and Bei Zhang, Xi'an (CN)
Assigned to Chang'an University, Xi'an (CN)
Filed by Chang'an University, Xi'an (CN)
Filed on Dec. 6, 2023, as Appl. No. 18/530,265.
Application 18/530,265 is a continuation of application No. PCT/CN2023/124073, filed on Oct. 11, 2023.
Claims priority of application No. 202310198130.X (CN), filed on Mar. 3, 2023.
Prior Publication US 2024/0295149 A1, Sep. 5, 2024
Int. Cl. E21B 49/00 (2006.01); E21B 7/00 (2006.01); E21B 23/00 (2006.01); E21B 47/007 (2012.01); E21B 47/013 (2012.01)
CPC E21B 49/00 (2013.01) [E21B 7/005 (2013.01); E21B 23/001 (2020.05); E21B 47/007 (2020.05); E21B 47/013 (2020.05)] 18 Claims
OG exemplary drawing
 
1. An in-situ detection robot for geological information without disturbance of in-situ stress including a sleeve, wherein a drilling unit and a support propulsion unit are set from a top to a bottom outside the sleeve, a dumping unit is set inside the sleeve, a detection unit is set between the drilling unit and the support propulsion unit, and a robot tail is connected to a control unit;
the dumping unit is configured to discharge soil drilled from the drilling unit to a ground, the support propulsion unit provides support and helps to advance, move, and orient a robot body, and the detection unit is used to detect geological information of surrounding environment of the robot, the control unit is used to control the drilling unit, the support propulsion unit and the detection unit, and the control unit collects and processes the geological information transmitted by the detection unit; and
the support propulsion unit includes a fore-body airbag, an after-body airbag and an adaptive airbag which are coaxially arranged from the top to the bottom outside the sleeve, the fore-body airbag and the after-body airbag are connected by an axial contraction component, the after-body airbag is fixed with the adaptive airbag, the axial contraction component cooperates with the fore-body airbag and the after-body airbag to realize an axial movement of the fore-body airbag and the after-body airbag along an outer wall of the sleeve, so that the robot moves forward, the adaptive airbag realizes an environmental adaptation of the robot so that the robot body maintains stability.