System and robot for three dimensional autonomous subsurface characterization and remediation

Abstract

The present disclosure relates generally to a robot, system, and method for subsurface drilling. The robot can include a drill bit, clamps, joint modules, and the robot can be directed manually or it can be directed by a predictive model.

What is claimed is: 
     
         1 . A robot for subsurface drilling in two or more dimensions, the robot comprising:
 a drill bit, wherein the drill bit is configured to bore beneath a ground surface;   one or more clamping mechanisms, wherein the one or more clamping mechanisms are configured to support a bore; and   one or more movable elements, wherein the one or more movable elements are configured to connect the one or more clamping mechanisms to each other and to connect the drill bit to at least one clamping mechanism, wherein the one or more movable elements are further configured to move in three rotational dimensions under the ground surface; wherein the one or more movable elements are further configured to move the one or more clamping mechanisms and drill bit in response to one or more commands from a predetermined algorithm, wherein the predetermined algorithm is configured to determine a movement of the one or more clamping mechanisms and the drill bit in relation one or more subsurface objects.   
     
     
         2 . The system of  claim 1 , wherein the system further comprises a power source located above the ground surface. 
     
     
         3 . The system of  claim 1 , wherein the system further comprises a cutting transport mechanism operably connected to one of the clamping mechanisms, the cutting transport mechanism configured to transport one or more core sample out of the bore hole. 
     
     
         4 . The system of  claim 1 , wherein the system further comprises one or more integrated sensors, the one or more integrated sensors consisting of least one selected from the group of cone penetrometers and waterloo profilers. 
     
     
         5 . The system of  claim 1 , wherein the system further comprises a three dimensional printer connected to at least one of the clamping mechanisms, wherein the three dimensional printer is configured to print a bore casing, wherein the bore casing is configured to provide structural support for the bore hole. 
     
     
         6 . The system of  claim 1 , wherein the system further comprises a photoionization detector. 
     
     
         7 . The system of  claim 1 , wherein the system further comprises a radiation measurement device.