Geologic sampling method and attitude controllable work device

摘要

A work apparatus that can collect core samples of a seabed ground at a desired angle in a stable manner includes a body 10, four flippers 30 rotatably disposed at left and right of a front section of the body 10 and at left and right of a rear section of the body 10 and a coring mechanism 20 disposed on the body 10 as basic features. An inclination sensor 17 that detects inclinations in a front-rear direction and in a left-right direction is disposed on the body 10. A load sensor 49 is attached to a support structure 40 rotatably supporting the flippers 30. A controller 16 controls rotations of the four flippers 30 based on information on inclination from the inclination sensor 17 and information on landing of the flippers 30 from the load sensor 49 to make the body 10 assume a desired attitude, which is a horizontal attitude, for example, and to land at least three flippers 30. After the attitude control, the controller 16 activates the coring mechanism 20 to collect the core samples from the seabed.