A robot and method for ground node geophone deployment and recovery

Abstract

The application belongs to the technical field of geological advanced prediction, and provides a robot and method for ground node-type geophone arrangement and recovery. A storage device for storing geophones is arranged at one end of a chassis, a conveying device is arranged in the middle, and a drilling device and a mechanical arm are arranged at the other end. A navigation positioning system is further arranged on the chassis. According to information provided by the navigation positioning system, the walking device is controlled to walk to an arrangement position, the drilling device is controlled to drill, the mechanical arm is controlled to place a geophone into a drilled hole, and the arrangement of the geophone is completed. The walking device is controlled to walk to all geophone positions in turn, the mechanical arm is controlled to pick up the geophones on the conveying device, the conveying device is controlled to transport the picked-up geophones into the storage device, and the recovery of the geophones is completed. The robot collects a series of automatic operations such as transportation, measurement, drilling and burying in the arrangement and recovery processes of the geophones, and greatly improves the efficiency of the arrangement and recovery of the node-type geophones.

Description

Technical Field

[0001] This invention belongs to the field of geological advanced prediction technology, and in particular relates to a robot and method for the deployment and retrieval of ground-based nodal geophones. Background Technology

[0002] The combined detection technology for tunnels and underground engineering is one of the important methods in tunnel and underground engineering construction. It adopts the method of "transforming noise into a source" and deploys dozens of nodal geophones at different distances on the geological surface above the tunnel boring machine. When the tunnel boring machine is excavating, it generates seismic waves. When the seismic waves encounter the interface of the unfavorable geological body, part of the seismic wave signal is reflected back and received by the nodal geophones deployed on the ground. By analyzing and processing the signals received by the nodal geophones, the location and image of the unfavorable geological body in front of the tunnel can be obtained.

[0003] The inventors discovered that the deployment and retrieval of ground-based nodal geophones are currently mainly carried out manually. This is because a large number of nodal geophones need to be deployed, and manual ranging is required. In addition, to ensure the coupling between the nodal geophones and the ground surface, each nodal geophone needs to be buried, resulting in low efficiency and a large amount of manpower and resources being consumed in the entire deployment process. In order to improve the deployment and retrieval efficiency, the geophone retrieval and placement robots that have emerged can only achieve semi-automated operation, and still require at least one person to be on-site to assist in the construction. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes a robot and method for the deployment and retrieval of ground-based nodal geophones. This robot integrates a series of automated operations, including transportation, measurement, drilling, and installation, which greatly improves the efficiency of nodal geophone deployment and retrieval, and saves manpower and resources.

[0005] To achieve the above objectives, in a first aspect, the present invention provides a robot for the deployment and retrieval of ground-based nodal geophones, employing the following technical solution:

[0006] A robot for deploying and retrieving ground-mounted nodal geophones includes a chassis and a walking device mounted on the chassis.

[0007] One end of the chassis is equipped with a storage device for storing detectors, the middle is equipped with a conveying device, and the other end is equipped with a drilling device and a robotic arm; the chassis is also equipped with a navigation and positioning system and a controller, and the walking device, the conveying device, the drilling device and the robotic arm are all connected to the controller;

[0008] The controller, based on information provided by the navigation and positioning system, controls the walking device to move to the deployment position. The conveying device transports the detector from the storage device to the robotic arm. The drilling device drills a hole, and the robotic arm places the detector into the hole for deployment. The controller, based on information provided by the navigation and positioning system, controls the walking device to move to the detector position. The robotic arm picks up the detector and places it onto the conveying device. The conveying device then transports the picked-up detector to the storage device for retrieval.

[0009] Furthermore, at least one obstacle avoidance device is also provided on the chassis.

[0010] Furthermore, the walking device is a Mecanum wheel.

[0011] Furthermore, the storage device includes multiple telescopic mechanisms mounted on the chassis, and detector placement compartments are respectively provided at both ends of the multiple reporting mechanisms. An ejection mechanism is provided on the side of the detector placement compartment away from the telescopic mechanism.

[0012] Furthermore, a limit door is provided on the side of the detector placement compartment near the telescopic mechanism.

[0013] Furthermore, the telescopic mechanism is a bidirectional electric cylinder.

[0014] Furthermore, the ejection mechanism is a spring.

[0015] Furthermore, the conveying device includes a guide rail disposed between the telescopic mechanism and the detector placement chamber, and a guide rail disposed between the storage device and the robotic arm.

[0016] Furthermore, the drilling device includes a first telescopic rod vertically mounted on the chassis, a second telescopic rod hinged to the first telescopic rod, a fourth telescopic rod hinged to the second telescopic rod, and a drill bit mounted on the fourth telescopic rod; a third telescopic rod is also mounted on the chassis, with one end of the third telescopic rod away from the chassis hinged to the first telescopic rod.

[0017] To achieve the above objectives, in a second aspect, the present invention also provides a method for the deployment and retrieval of ground-based nodal geophones, employing the following technical solution:

[0018] A method for deploying and retrieving ground-based nodal geophones, using a robot for deploying and retrieving ground-based nodal geophones as described in the first aspect, comprising:

[0019] The controller controls the walking device to move to the deployment position based on the information provided by the navigation and positioning system. The conveying device transports the detector in the storage device to the robotic arm. The drilling device drills a hole. The robotic arm puts the detector into the hole to deploy the detector.

[0020] The controller controls the walking device to move to the detector position based on the information provided by the navigation and positioning system. The robotic arm picks up the detector and places it on the conveying device. The conveying device then transports the picked-up detector to the storage device for detector retrieval.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] In this invention, a storage device for storing detectors is provided at one end of the chassis, a conveying device is provided in the middle, and a drilling device and a robotic arm are provided at the other end. A navigation and positioning system and a controller are also provided on the chassis. During detector deployment, the controller, based on information provided by the navigation and positioning system, controls the walking device to sequentially move to all deployment positions. The conveying device transports the detectors from the storage device to the robotic arm, the drilling device drills holes, and the robotic arm places the detectors into the drilled holes, thus completing the detector deployment. During detector retrieval, the controller, based on information provided by the navigation and positioning system, controls the walking device to sequentially move to all detector positions. The robotic arm picks up the detectors and places them onto the conveying device, which then transports the picked-up detectors to the storage device, thus completing the detector retrieval. This invention integrates a series of automated operations such as transportation, measurement, drilling, and installation during detector deployment and retrieval, eliminating the need for on-site personnel and greatly improving the efficiency of nodal detector deployment and retrieval, saving manpower and resources.

[0023] This invention is suitable for scenarios with low detector distribution density, long deployment intervals, and large deployment areas; compared with manual drilling and burial, drilling and burial have high standardization, small differences, and are easier to analyze data; deployment and retrieval are all automated, enabling unattended operation and automatic patrol. Attached Figure Description

[0024] The accompanying drawings, which form part of this embodiment, are used to provide a further understanding of this embodiment. The illustrative embodiments and their descriptions are used to explain this embodiment and do not constitute an improper limitation of this embodiment.

[0025] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present invention;

[0026] Figure 2 This is a schematic diagram of the drilling mechanism in Embodiment 1 of the present invention;

[0027] Figure 3 This is a flowchart of the detector layout in Embodiment 1 of the present invention;

[0028] Figure 4 This is a flowchart of the detector retrieval process in Embodiment 1 of the present invention;

[0029] The components include: 1. Chassis; 2. Walking device; 3. Obstacle avoidance device; 4. Storage device; 41. Detector; 42. Pop-out mechanism; 43. Telescopic mechanism; 44. First guide baffle; 45. Second guide baffle; 46. Third guide baffle; 47. Limit gate; 5. Conveying device; 51. First channel; 52. Second channel; 6. Drilling device; 61. First telescopic rod; 62. Second telescopic rod; 63. Third telescopic rod; 64. Fourth telescopic rod; 65. Drill bit; 7. Robotic arm; 71. Robotic arm body; 72. Clamping device; 8. Power supply device; 9. Controller. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0031] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0032] Example 1:

[0033] Currently, the deployment and retrieval of ground-based nodal geophones are mainly carried out manually. This is because a large number of nodal geophones need to be deployed, and manual ranging is required. In addition, to ensure the coupling between the nodal geophones and the ground surface, each nodal geophone needs to be buried, resulting in low efficiency and a large amount of manpower and resources required for the entire deployment process. In order to improve the deployment and retrieval efficiency, the geophone retrieval robots that have emerged can only achieve semi-automated operation, and still require at least one person to cooperate on site.

[0034] In response to the above problems, such as Figure 1 As shown, this embodiment provides a robot for the deployment and retrieval of ground-based nodal geophones, including a chassis 1 and a walking device 2 mounted on the chassis 1;

[0035] One end of the chassis 1 is provided with a storage device 4 for storing the detector 41, a conveying device 5 is provided in the middle, and a drilling device 6 and a robotic arm 7 are provided at the other end; the chassis 1 is also provided with a navigation and positioning system and a controller 9, and the walking device 2, the conveying device 5, the drilling device 6 and the robotic arm 7 are all connected to the controller 9.

[0036] When the detector 41 is deployed, the controller 9 controls the walking device 2 to move sequentially to all deployment positions based on the information provided by the navigation and positioning system. The conveying device 5 transports the detector 41 from the storage device 4 to the robotic arm 7. The drilling device 6 drills holes, and the robotic arm 7 places the detector 41 into the drilled holes, thus completing the deployment of the detector 41. When the detector 41 is retrieved, the controller 9 controls the walking device 2 to move sequentially to all detector positions based on the information provided by the navigation and positioning system. The robotic arm 7 picks up the detector 41 and places it onto the conveying device 5. The conveying device 5 transports the picked-up detector 41 to the storage device 4, thus completing the retrieval of the detector 41. This embodiment integrates a series of automated operations such as transportation, measurement, drilling, and burial during the deployment and retrieval of the detector 41. It does not require on-site personnel assistance, greatly improving the efficiency of the deployment and retrieval of nodal detectors and saving manpower and resources.

[0037] Understandably, in this embodiment, in order to control the robot, a control terminal may be optionally provided. One control terminal can be connected to at least one robot to control one or more robots.

[0038] Optionally, the navigation and positioning system is the BeiDou satellite navigation and positioning system, which can be set on the chassis 1 together with the controller 9; the chassis 1 is also equipped with a power supply device 8, such as a storage battery, to provide energy for the controller 9 and the drive parts of each mechanism in the robot.

[0039] Optionally, four walking devices 2 are installed on the chassis. Each walking device 2 includes a walking wheel and a motor. The walking wheel is a Mecanum wheel, and each Mecanum wheel is driven by an independent motor, which can achieve 360-degree turning and movement without the need to add a steering mechanism.

[0040] The chassis 1 is equipped with an obstacle avoidance device 3 and a BeiDou satellite navigation and positioning system. Optionally, obstacle avoidance devices 3 are installed at four positions on the front, back, left, and right sides of the chassis 1. The obstacle avoidance device 3 may include a ranging radar and a high-definition camera connected to the controller 9. When the robot encounters an obstacle during its movement, the ranging radar issues a warning to the controller 9 at a certain distance. The controller 9 then uses the high-definition camera to assess the surrounding environment, turns to the obstacle-free side, and replans its route, thereby achieving obstacle avoidance during robot movement.

[0041] In this embodiment, the detector 41 is a nodal detector; the storage device 4 may have several cells for storing several nodal detectors that need to be deployed or retrieved. Figure 1The cells do not represent the actual quantity and can be set according to actual needs. To facilitate the transport and retrieval of detectors, the cells are divided into four areas. Each cell can be understood as a detector placement compartment, which stores one node-type detector and is equipped with a contact sensor for easy storage and counting.

[0042] Each detector placement compartment is equipped with a limiting door 47 and a pop-out mechanism 42. When the detector 41 is deployed, the limiting door 47 of the corresponding detector placement compartment opens, and the detector 41 pops out onto the guide rail of the conveying device 5. A telescopic mechanism 43 is provided opposite each detector placement compartment. The telescopic mechanism 43 can be a bidirectional electric cylinder and is equipped with a proximity sensor. During retrieval, when the detector 41 is conveyed to the front of the corresponding detector placement compartment, the proximity sensor is triggered, the limiting door 47 opens, the electric cylinder rod extends, pushing the detector 41 into the detector placement compartment, and then the limiting door 47 closes. The limiting door can be an electric limiting door 47, and its opening and closing can be achieved using conventional technology, which will not be detailed here. The pop-out mechanism 42 can be an elastic element such as a spring.

[0043] Optionally, the conveying device 5 can be implemented by a conveyor belt, conveyor chain, or other conveying mechanism; in one embodiment, the conveying device 5 includes multiple conveying guide rails, a drive stepper motor, and a guide plate. The conveying device 5 conveys the detectors 41 in the storage device 4 one by one to the location to be buried at the front end of the carrier chassis, and can also convey the detectors 41 retrieved at the front end to the storage device 4.

[0044] like Figure 1 As shown, the conveying device 5 may include a first channel 51 and a second channel 52; in order to convey the detectors 41 from different regions to the first channel 51, guide baffles are respectively provided between the first channel 51 and the second channel 52.

[0045] Specifically, when the detector 41 is deployed, the limiting door 47 in zone one opens, the ejection mechanism 42 ejects the detector 41, the first guide baffle 44 moves to position ②, and the second guide baffle 45 and the third guide baffle 46 are located at positions ③ and ④ respectively. At this time, the detector 41 in zone one can be transported to the pre-embedded position at the front end through the conveying device 5. Similarly, when the detector in zone two is ejected, the first guide baffle 44 moves to position ①, and the second guide baffle 45 and the third guide baffle 46 are located at positions ③ and ④ respectively. When the detector 41 in zone three is ejected, the second guide baffle 45 and the third guide baffle 46 both move to position ④. When the detector 41 in zone four is ejected, the second guide baffle 45 and the third guide baffle 46 both move to position ③.

[0046] When the nodal detector is retrieved, when detector 41 is transported to zone four, the second guide baffle 45 and the third guide baffle 46 both move to position ③. A bidirectional electric cylinder is installed directly opposite each cell, along with a proximity sensor. When the nodal detector reaches a cell in zone four, the proximity switch is triggered, opening the limit gate 47 and extending the electric cylinder rod to push the nodal detector into the cell. The limit gate 47 then closes. Once the nodal detector is in the cell, the electric cylinder will not move. This process retrieves the nodal detector sequentially into each cell. Similarly, when the detector is transported to zone three, the second guide baffle 45 and the third guide baffle 46 both move to position ④. When the detector is transported to zone two, the first guide baffle 44 moves to position ①, and the second guide baffle 45 and the third guide baffle 46 are located at positions ③ and ④ respectively. When the detector is transported to zone one, the first guide baffle 44 moves to position ②, and the second guide baffle 45 and the third guide baffle 46 are located at positions ③ and ④ respectively.

[0047] The first guide baffle 44, the second guide baffle 45, and the third guide baffle 46 can be mounted on the chassis 1 by a driving device such as a motor or a telescopic device. For example, one end of the first guide baffle 44, the second guide baffle 45, and the third guide baffle 46 can be mounted on the output shaft of the motor, and the guide baffle can be switched to different positions by rotating the output shaft of the motor within a certain range; or the entire guide baffle can be mounted on the chassis by a telescopic device, and the switching of the guide baffle to different positions can be achieved by the telescopic action of the telescopic device; in other embodiments, the first guide baffle 44, the second guide baffle 45, and the third guide baffle 46 can be implemented by conventional settings, which will not be described in detail here.

[0048] like Figure 2 As shown, the drilling device 6 includes a first telescopic rod 61, a second telescopic rod 62, a third telescopic rod 63, a fourth telescopic rod 64, and a drill bit 65. The first telescopic rod 61 is mounted on the chassis via a turntable or similar device, allowing it to extend, retract, and rotate. After the controller 9 sends position information, the walking device 2 moves the chassis 1 to a preset position. Then, the first telescopic rod 61 of the drilling device rotates and extends / retracts, while the second, third, and fourth telescopic rods 62, 63, and 64 extend and retract sequentially, unfolding the drill bit 65 to perform drilling operations below the chassis 1 to facilitate the subsequent installation of nodal geophones.

[0049] The robotic arm 7 can be a 6-axis robotic arm, including a robotic arm body 71, a gripping device 72, a ranging sensor, and a high-definition camera. During deployment, after the drilling device 6 completes drilling, the drill bit 65 is retracted. The robotic arm 7 grips the detector 41 on the conveying device and moves it to the coordinates where the drill bit 65 drilled the hole, and then places the detector 41 into the positioning hole. During retrieval, the chassis 1 moves to the detector 41 according to the Beidou satellite navigation system. Then, the robotic arm 7, relying on the ranging sensor and the high-definition camera, accurately positions the detector 41, grips the nodal detector on the ground, and then places it on the conveying device 5.

[0050] The controller 9 controls and corrects various systems of the robot body. Simultaneously, it monitors information such as the battery level in the power supply device 8. When the battery level falls below a preset value, the controller 9 stores the current position information, then moves to the pre-set charging station via the optimal path, completes charging, and returns to the stored position.

[0051] The control terminal receives various data from the robot in order to perform command control, status monitoring, and real-time display of the robot.

[0052] like Figure 3 As shown in this embodiment, the optional node-type detector deployment process and method are as follows:

[0053] The control terminal receives the point map of the node detectors to be deployed, performs path planning based on the point map, and then sends the control commands to the robot controller 9.

[0054] The controller 9 determines the position and optimal route based on the Beidou satellite navigation and positioning system carried by the robot, and then sends a control command to the walking device 2. The walking device 2 moves to the first position according to the command.

[0055] The chassis 1 is equipped with an obstacle avoidance device 3 and a Beidou satellite navigation and positioning system. When the robot encounters an obstacle during its journey, the ranging radar sends a warning to the controller 9 at a certain distance. The controller 9 uses a high-definition camera to image and determine the surrounding environment, turns to the side without obstacles, and replans the route, thereby moving the robot to the first point.

[0056] After the robot reaches the first location, the controller 9 sends a command to the drilling device 6. The first telescopic rod 61 can rotate and extend, and the second telescopic rod 62, the third telescopic rod 63, and the fourth telescopic rod 64 extend in succession. The drilling device 6 automatically unfolds, and the drill bit 65 extends to drill a hole in the ground for the subsequent installation of the nodal geophone. After the drilling device 6 finishes drilling, the four telescopic rods retract in sequence and fold onto the chassis 1. The third telescopic rod 63 can also be set on the turntable.

[0057] The limiting gates 47 located in the storage area cells open sequentially. Under the action of the ejection mechanism 42, the detectors 41 are ejected onto the guide rails of the forward conveying device 5. Each cell is equipped with a contact sensor to detect whether there is a detector 41 inside the cell. Specifically, when a detector in Zone 1 is ejected, the first guide baffle 44 moves to position ②, and the second guide baffle 45 and the third guide baffle 46 are located at positions ③ and ④ respectively. At this time, the detector in Zone 1 can be conveyed to the pre-embedded position at the front end through the conveying device 5. Similarly, when a detector in Zone 2 is ejected, the first guide baffle 44 moves to position ①, and the second guide baffle 45 and the third guide baffle 46 are located at positions ③ and ④ respectively. When a detector in Zone 3 is ejected, both the second guide baffle 45 and the third guide baffle 46 move to position ④. When a detector in Zone 4 is ejected, both the second guide baffle 45 and the third guide baffle 46 move to position ③.

[0058] After the detector 41 arrives at the pre-embedded location via the conveying device 5, the clamping device 72 on the robotic arm 7 picks up the detector 41, moves it to the coordinate position where the drill bit 65 was drilling, places the detector 41 into the positioning hole, and then the robotic arm 7 returns to its initial position, thus completing the burial work at the first point. This sequence is used to complete the installation of all nodal detectors.

[0059] In this embodiment, as Figure 4 As shown, the process and method for recovering a nodal detector are as follows:

[0060] The control terminal receives the point map that needs to be recovered by the node detector, performs path planning based on the point map, and then sends the control command to the controller 9.

[0061] The controller 9 determines the position and optimal route based on the Beidou satellite navigation and positioning system carried by the robot, and then sends control commands to the walking system. The walking device 2 moves to the first position according to the instructions.

[0062] The chassis 1 is equipped with an obstacle avoidance device 3 and a Beidou satellite navigation and positioning system. When the robot encounters an obstacle during its journey, the ranging radar sends a warning to the controller 9 at a certain distance. The controller 9 uses a high-definition camera to image and determine the surrounding environment, turns to the side without obstacles, and replans the route, thereby moving the robot to the first point.

[0063] After the robot reaches the first location, the controller 9 sends a command to the robotic arm 7. The robotic arm 7, relying on a ranging sensor and a high-definition camera, accurately locates the detector, picks up the nodal detector from the ground, places it on the conveying device 5, and then returns to its initial position. At this time, the conveying device 5 rotates in the opposite direction, sequentially transporting the nodal detectors to the storage area.

[0064] Specifically, when the nodal detector is delivered to Zone 4, both the second guide baffle 45 and the third guide baffle 46 move to position ③. A bidirectional electric cylinder is installed directly opposite each cell, along with a proximity sensor. When the detector reaches a cell in Zone 4, the proximity switch is triggered, opening the limit gate 47 and extending the electric cylinder rod to push the nodal detector into the cell. The limit gate 47 then closes. Once the nodal detector is in the cell, the bidirectional electric cylinder will not move, thus retrieving the nodal detector sequentially into each cell. Similarly, when the nodal detector is delivered to Zone 3, both the second guide baffle 45 and the third guide baffle 46 move to position ④. When the nodal detector is delivered to Zone 2, the first guide baffle 44 moves to position ①, and the second guide baffle 45 and the third guide baffle 46 are located at positions ③ and ④ respectively. When the detector is delivered to Zone 1, the first guide baffle 44 moves to position ②, and the second guide baffle 45 and the third guide baffle 46 are located at positions ③ and ④ respectively.

[0065] After the nodal detector at the first location is retrieved into the storage cell, the retrieval of all nodal detectors is completed in sequence.

[0066] Example 2:

[0067] This embodiment provides a method for deploying and retrieving ground-based nodal geophones, using a robot for deploying and retrieving ground-based nodal geophones as described in Embodiment 1, including:

[0068] The controller controls the walking device to move to the deployment position based on the information provided by the navigation and positioning system. The conveying device transports the detector in the storage device to the robotic arm. The drilling device drills a hole. The robotic arm puts the detector into the hole to deploy the detector.

[0069] The controller controls the walking device to move to the detector position based on the information provided by the navigation and positioning system. The robotic arm picks up the detector and places it on the conveying device. The conveying device then transports the picked-up detector to the storage device for detector retrieval.

[0070] The above description is merely a preferred embodiment of this practice and is not intended to limit the scope of this practice. Various modifications and variations can be made to this practice by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this practice should be included within the protection scope of this practice.

Claims

1. A robot for deploying and retrieving ground-based nodal geophones, characterized in that, Includes a chassis and a traveling device mounted on the chassis; One end of the chassis is equipped with a storage device for storing detectors, the middle is equipped with a conveying device, and the other end is equipped with a drilling device and a robotic arm; the chassis is also equipped with a navigation and positioning system and a controller, and the walking device, the conveying device, the drilling device and the robotic arm are all connected to the controller; The controller controls the walking device to move to the deployment position based on the information provided by the navigation and positioning system. The conveying device transports the detector in the storage device to the robotic arm. The drilling device drills a hole. The robotic arm puts the detector into the hole to deploy the detector. The controller controls the walking device to move to the detector position based on the information provided by the navigation and positioning system. The robotic arm picks up the detector and puts it onto the conveying device. The conveying device then transports the picked-up detector to the storage device for detector retrieval. The storage device includes multiple telescopic mechanisms mounted on the chassis. Each end of the multiple telescopic mechanisms is provided with a detector placement compartment. An ejection mechanism is provided on the side of the detector placement compartment away from the telescopic mechanism. The detector placement compartment is provided with a limit door on the side near the telescopic mechanism; the telescopic mechanism is a bidirectional electric cylinder; the ejection mechanism is a spring; the conveying device includes a guide rail disposed between the telescopic mechanism and the detector placement compartment, and a guide rail disposed between the storage device and the robotic arm.

2. The robot for deploying and retrieving ground-based nodal geophones as described in claim 1, characterized in that, The chassis is also equipped with at least one obstacle avoidance device.

3. The robot for deploying and retrieving ground-based nodal geophones as described in claim 1, characterized in that, The walking device is a Mecanum wheel.

4. The robot for deploying and retrieving ground-based nodal geophones as described in claim 1, characterized in that, The drilling device includes a first telescopic rod vertically mounted on the chassis, a second telescopic rod hinged to the first telescopic rod, a fourth telescopic rod hinged to the second telescopic rod, and a drill bit mounted on the fourth telescopic rod; a third telescopic rod is also mounted on the chassis, with one end of the third telescopic rod away from the chassis hinged to the first telescopic rod.

5. A method for the deployment and retrieval of ground-based nodal geophones, characterized in that, The robot used for deployment and retrieval of ground-based nodal geophones as described in any one of claims 1-4 includes: The controller controls the walking device to move to the deployment position based on the information provided by the navigation and positioning system. The conveying device transports the detector in the storage device to the robotic arm. The drilling device drills a hole. The robotic arm puts the detector into the hole to deploy the detector. The controller controls the walking device to move to the detector position based on the information provided by the navigation and positioning system. The robotic arm picks up the detector and places it on the conveying device. The conveying device then transports the picked-up detector to the storage device for detector retrieval.

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