Rapid acquisition and imaging system for electrical information of underground road defects and exploration method

Abstract

The present invention discloses a system and method for rapidly collecting and imaging electrical information of underground road defects, and belongs to the technical field of underground road defect exploration. The system includes a wireless control device, a mobile loading device, a data acquisition and processing device, and an electrode layout device; the electrode layout device includes a main chain and a main cable, and the main chain is provided with a plurality of four-claw electrodes through a connecting chain, and the four-claw electrodes are connected to the main cable through a connecting cable, and the main cable is electrically connected to the data acquisition and processing device, and the data acquisition and processing device and the mobile loading device are both in communication with the wireless control device. At the same time, an exploration method based on the above system is disclosed, which uses the above system and method for rapidly collecting and imaging electrical information of underground road defects, and has fast layout, simple and convenient operation, can measure different ground depths, and has strong applicability. At the same time, the reconstruction of surface image data and the reconstruction of two-dimensional resistivity profiles more accurately reflect the location and shape of underground defects.

Description

Technical Field

[0001] The present invention relates to the technical field of underground road disease exploration, and in particular to a rapid acquisition and imaging system for electrical information of underground road diseases and an exploration method. Background Art

[0002] With the continuous advancement of urbanization, the development and utilization of underground space has become more and more extensive. However, the existence of underground diseases has brought serious threats to the construction of urban infrastructure and the safety of people's lives and property. Underground diseases mainly include unfavorable geological bodies such as cavities, looseness, and water-richness. These diseases may lead to serious consequences such as ground collapse, building tilt, and pipeline rupture. Therefore, timely and accurate survey of underground structures will help to find out whether there are caves, goafs, etc. underground, provide a scientific basis for the maintenance and management of urban infrastructure, avoid construction in diseased areas, reduce unnecessary losses, and create a safer and more comfortable living environment.

[0003] At present, the underground disease detection technologies commonly used at home and abroad mainly include geological radar method, high-density electrical method, seismic imaging method, etc. These technologies can detect underground diseases to a certain extent, but there are also some defects. For example, the geological radar method is one of the commonly used detection methods in the prior art, which is combined with vehicles to explore underground road diseases. For example, the announcement number CN217718085U discloses a geological radar detection device for detecting underground road diseases, but the geological radar method has certain requirements on the conductivity and dielectric constant of the underground medium and the detection depth is limited. The high-density electrical method is a technology that uses electric fields to detect the resistivity distribution of underground media. This technology has the advantages of low cost and high resolution, but there are also some problems. The traditional high-density electrical method requires a large number of electrodes and cables, and the wiring and winding process is cumbersome and time-consuming, resulting in low detection efficiency. Its inversion result only contains underground information, cannot judge the environment on the ground, and often has certain errors. For underground diseases under complex geological conditions, the inversion accuracy is difficult to meet the requirements. Summary of the invention

[0004] The purpose of the present invention is to provide a rapid acquisition and imaging system for electrical information of underground road defects and a method for exploration to solve the above-mentioned technical problems.

[0005] To achieve the above-mentioned purpose, the present invention provides a rapid acquisition and imaging system for electrical information of underground road diseases, comprising a wireless control device, a mobile loading device, a data acquisition and processing device and an electrode layout device; the electrode layout device comprises a main chain and a main cable, the main chain and the main cable are respectively wound on two rotating drums, a plurality of connecting chains are arranged on the main chain, four-claw electrodes are arranged at the tail ends of the connecting chains, the four-claw electrodes are connected to connecting cables, the connecting cables are connected to the connecting areas of the main cables through fixing fixtures, the main cables are electrically connected to the data acquisition and processing device, the rotating drum and the data acquisition and processing device are both arranged on the mobile loading device, the data acquisition and processing device and the mobile loading device are both in communication with the wireless control device.

[0006] Preferably, the four-claw electrode includes an electrode body, four electrode claws are distributed on the circumference of the bottom end of the electrode body, the electrode claws include an integrally formed arc-shaped connecting portion and an insertion portion, the insertion portion is inclined, and the inclination angle between the insertion portion and the electrode body is 45°-55°, the length of the insertion portion is 8-10cm, the insertion portion is made of copper alloy with a hardness range of HV80-120, the arc-shaped connecting portion is arranged at the bottom end of the electrode body, an electrode rod is embedded in the top end of the electrode body, the electrode rod is connected to one end of the connecting cable, and a fixing clamp is arranged at the other end of the connecting cable, the fixing clamp includes two symmetrically arranged arc-shaped metal plates, and the two arc-shaped metal plates are connected by fastening screws.

[0007] Preferably, the main chain and the connecting chain are both annular chains, the connecting chain is detachably connected to the main chain via a lock, a length mark is provided on the main chain, and the main cable is detachably connected to the main chain via a buckle.

[0008] Preferably, a plurality of electrode converters are detachably provided on the main cable, and the electrode converters are connected to the cylindrical sheath via a connecting rod.

[0009] Preferably, the mobile loading device includes a tracked loader; image acquisition cameras are provided on the four sides and the bottom of the tracked loader for acquiring surface image data, and the acquired surface image data are spliced ​​by interpolation to obtain reconstructed surface image data of the measurement area; an obstacle avoidance radar is provided on the top of the tracked loader; a protective fixed column is provided between two rotating drums in the tracked loader for guiding the extension direction of the main chain; an exit is provided at the rear of the tracked loader, a chain fixing buckle is provided above the exit, and a fixed wire fence is slidably provided at the opening.

[0010] Preferably, a power module, a control module, a drive module, a positioning module and a communication module are provided in the crawler loader. The power module provides electrical energy to the crawler loader. The drive module is used to drive the crawler loader to move and the drum to rotate forward and reverse. The positioning module is used to collect position data of the driven crawler loader. The communication module is used to control the reception and transmission of signals. The power module, the drive module, the positioning module and the communication module are all electrically connected to the control module. The wireless control device and the background terminal are both in communication with the communication module.

[0011] Preferably, the wireless control device is a wireless remote controller, which is provided with a receiving antenna, a direction control button, a retractable control button and a switch button.

[0012] Preferably, the data acquisition and processing device includes a noise processing module, a data inversion module and an anomaly delineation module which are connected in sequence; the data inversion module and the anomaly delineation module are connected to a transmission module, and the transmission module communicates with a background terminal.

[0013] Based on the above-mentioned exploration method of the rapid acquisition imaging system of electrical information of underground road defects, the specific steps are as follows:

[0014] Step S1: setting the length of the main chain and main cable according to the size of the measurement area, and determining the electrode spacing and number;

[0015] Step S2: Control the crawler loader and the rotating drum by a wireless remote controller to place the main chain and the main cable, connect the main chain and the main cable together by a buckle and lay them in the measurement area, and arrange the four-claw electrodes according to the electrode spacing; at the same time, obtain the surface image data of the measurement area by the image acquisition camera on the crawler loader;

[0016] Step S3: Start the crawler loader to drag the main chain to move so that the four-claw electrode is inserted into the test area;

[0017] Step S4: starting the data acquisition and processing device to perform a self-check to confirm that all four-claw electrodes are inserted into the test area;

[0018] Step S5: Start the data acquisition and processing device to collect and process data, obtain the inversion results and the abnormal point delineation results, and transmit them to the background terminal for data reorganization, storage and display;

[0019] Step S6: After the data is saved, the survey is completed, the free end of the main chain is dragged, the four-claw electrode is pulled out of the test area, the main chain and the main cable are separated and the four-claw electrode is disassembled, and the main chain and the main cable are retracted onto the drum through the wireless remote control.

[0020] Preferably, the specific steps of step S5 are as follows:

[0021] Step S51: reading the apparent resistivity and coordinates of each four-claw electrode;

[0022] Step S52: performing limited memory quasi-Newton inversion on the apparent resistivity data after denoising to obtain a two-dimensional resistivity profile;

[0023] Step S53: further clustering the inverted resistivity data, mapping the clustered data to a grid, and generating a clustered resistivity profile;

[0024] Step S54: reorganizing the surface image data obtained from the surface image data and the resistivity profile, and displaying the detection results by constructing an underground hazard distribution model based on surface characteristics.

[0025] Therefore, the present invention adopts the above-mentioned road underground disease electrical information rapid acquisition imaging system and exploration method, which has the following beneficial effects:

[0026] (1) The electrode laying device adopts a combination of chains and cables, and is laid out through a mobile loading device to improve the laying efficiency. At the same time, four-claw electrodes are set by connecting chains, and multiple electrodes are quickly inserted into the measurement area by dragging. The design of the four-claw electrode improves the reliability of insertion and realizes the rapid collection of electrical information of underground road diseases. It is more labor-saving when using high-density electrical methods for underground surveys. Installation and disassembly are relatively convenient. The method is simple to operate, and the electrode spacing can be selected according to needs to measure different ground depths. It has strong applicability.

[0027] (2) During the deployment process, surface image data are collected and spliced ​​through interpolation to obtain reconstructed surface image data of the measurement area. By reconstructing the surface image data and inverting the two-dimensional resistivity profile, three-dimensional image reconstruction of the surface and underground space is achieved, which can more accurately reflect the location and shape of underground diseases.

[0028] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of a system for quickly collecting and imaging electrical information of underground road defects according to the present invention;

[0030] Figure 2 This is a schematic diagram of the connecting chain structure of the present invention;

[0031] Figure 3 It is a schematic diagram of the four-claw electrode structure of the present invention;

[0032] Figure 4 This is a schematic diagram of the fixing fixture structure of the present invention;

[0033] Figure 5 This is a principle block diagram of a system for rapidly collecting and imaging electrical information of underground road defects according to the present invention;

[0034] Figure 6 This is the inversion flow chart of the present invention.

[0035] Reference numerals

[0036] 1. Wireless control device; 11. Receiving antenna; 12. Direction control button; 13. Retractable control button; 14. Switch button; 2. Mobile loading device; 21. Tracked loader; 22. Image acquisition camera; 23. Obstacle avoidance radar; 24. Protective fixed column; 25. Exit; 26. Chain fixing buckle; 27. Fixed wire fence; 28. Rotating drum; 3. Data acquisition and processing device; 4. Electrode laying device; 41. Main chain; 42. Main cable wire; 421, connection area; 43, connection chain; 44, four-claw electrode; 441, electrode body; 442, electrode claw; 4421, arc-shaped connecting part; 4422, insertion part; 443, electrode rod; 45, connecting cable; 46, fixing fixture; 461, arc-shaped metal plate; 462, fastening screw; 47, lock; 48, buckle; 49, electrode converter; 491, connecting rod; 492, cylindrical sheath; 5, backstage terminal. DETAILED DESCRIPTION

[0037] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "setting", "installation", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0039] like Figure 1 As shown, a system for quickly collecting and imaging electrical information of underground road diseases includes a wireless control device 1, a mobile loading device 2, a data collection and processing device 3 and an electrode layout device 4.

[0040] The electrode arrangement device 4 includes a main chain 41 and a main cable 42, and the main chain 41 and the main cable 42 are respectively wound on two rotating drums 28. Figure 2 As shown, a plurality of connecting chains 43 are arranged on the main chain 41, and the connecting chains 43 are smaller than the main chain 41. Both the main chain 41 and the connecting chains 43 are annular chains, which reduce the mass of the overall chain. The connecting chains 43 are detachably connected to the main chain 41 through a lock 47, which is convenient for installation and disassembly. A length mark is arranged on the main chain 41, which is convenient for observing the use length. The main cable 42 is detachably connected to the main chain 41 through a buckle 48, so that the main cable 42 is connected to the main chain 41, and the main chain 41 bears the dragging force, thereby improving the service life of the main cable 42. At the same time, the casting length is selected according to actual needs. In this embodiment, the main chain 41 is 120 meters long, and the main cable 42 includes 2 60-meter cables, and 12 connection areas 421 are arranged on each cable. The two cables are connected through a converter, and the electrode converter 49 is connected to a cylindrical sheath 492 through a connecting rod 491, so that the converter is kept away from the ground during towing, thereby extending the service life of the converter. The tail end of the connecting chain 43 is provided with a four-claw electrode 44, such as Figure 3 As shown, the four-claw electrode 44 is connected to a connecting cable 45. The four-claw electrode 44 includes an electrode body 441. Four electrode claws 442 are distributed around the bottom of the electrode body 441. The angle between the two electrode claws 442 is 90°. No matter how it is flipped during use, at least two electrode claws 442 can be guaranteed to contact the ground. The electrode claw 442 includes an arc-shaped connecting portion 4421 and an inserting portion 4422 formed in one piece. The inserting portion 4422 is tilted, and the tilting angle between the inserting portion 4422 and the electrode body 441 is 45°-55°. The length of the inserting portion 4422 is 8-10 cm. The inserting portion 4422 is made of copper alloy so that it has good conductivity. The hardness range is HV80-120, and the hardness meets the requirements of timely exploration. The arc-shaped connecting portion 4421 is set at the bottom of the electrode body 441. The part of the inserting portion 4422 extending outward is slightly facing outward, and the tip has a certain degree of sharpness, which makes it easier to insert the electrode when dragging. The top of the electrode body 441 is embedded with an electrode rod 443, which is connected to one end of a connecting cable 45, and the other end of the connecting cable 45 is provided with a fixing fixture 46. Figure 4 As shown, the fixing fixture 46 includes two symmetrically arranged arc-shaped metal plates 461, which are connected by fastening screws 462. The connecting cable 45 is connected to the connecting area 421 of the main cable 42 through the fixing fixture 46. When connecting, the fastening bolts are tightened to clamp the two arc-shaped metal plates 461 in the connecting area 421 of the main cable 42 to achieve electrical connection. The main cable 42 is electrically connected to the data acquisition and processing device 3 to achieve power supply and data acquisition.

[0041] The mobile loading device 2 includes a crawler loader 21; image acquisition cameras 22 are arranged on the four sides and the bottom of the crawler loader 21 for acquiring surface image data, and the collected surface image data are spliced ​​by interpolation to obtain reconstructed surface image data of the measurement area. An obstacle avoidance radar 23 is arranged on the top of the crawler loader 21, which realizes remote control and automatic obstacle avoidance in combination with the 5G network. A protective fixing column 24 is arranged between the two rotating drums 28 in the crawler loader 21, which is used to guide the extension direction of the main chain 41 to prevent the main chain 41 and the main cable 42 from being entangled. An outlet 25 is arranged at the tail of the crawler loader 21, and a chain fixing buckle 26 is arranged above the outlet 25. A fixed wire fence 27 (bolted or slidable by a telescopic device) is slidably arranged at the opening. The height of the fixed wire fence 27 can be adjusted according to actual needs to determine the height of the main chain 41 and the main cable 42 during recovery.

[0042] like Figure 5 As shown, the crawler loader 21 is provided with a power module, a control module, a drive module, a positioning module and a communication module. The power module provides electric energy for the crawler loader 21. The drive module is used to drive the crawler loader 21 to move and the drum 28 to rotate forward and reversely. The positioning module is used to collect the position data of the crawler loader 21 to facilitate the subsequent control of the moving direction and position of the crawler loader 21. The communication module is used to control the reception and transmission of signals. The power module, the drive module, the positioning module and the communication module are all electrically connected to the control module. The wireless control device 1 and the background terminal 5 are both in communication with the communication module.

[0043] The wireless control device 1 is a wireless remote controller, which is provided with a receiving antenna 11, a direction control button 12, a retractable control button 13 and a switch button 14. The wireless control of the crawler loader 21 and the drum 28 is realized.

[0044] The data acquisition and processing device 3 includes a noise processing module, a data inversion module and an anomaly delineation module which are connected in sequence; the data inversion module and the anomaly delineation module are connected to a transmission module, and the transmission module communicates with the background terminal 5 to realize data acquisition and processing.

[0045] Based on the above-mentioned exploration method of the rapid acquisition imaging system of electrical information of underground road defects, the specific steps are as follows:

[0046] Step S1: The lengths of the main chain 41 and the main cable 42 are set according to the size of the measurement area, and the spacing and number of electrodes are determined.

[0047] Step S2: The crawler loader 21 and the drum 28 are controlled by a wireless remote controller to place the main chain 41 and the main cable 42, and the main chain 41 and the main cable 42 are connected together by the buckle 48 and laid in the measurement area. The four-claw electrode 44 is arranged according to the electrode spacing, and the position of the electrode converter 49 can also be flexibly arranged according to the difference in the electrode spacing. The electrode spacing and the number of electrodes can be selected as needed during use. At the same time, the image acquisition camera 22 on the crawler loader 21 obtains the surface image data of the measurement area.

[0048] Step S3: Start the crawler loader 21 to drag the main chain 41 to move so that the four-claw electrode 44 is inserted into the test area.

[0049] Step S4: Start the data acquisition and processing device 3 to perform self-checking to confirm that all four-claw electrodes 44 are inserted into the test area.

[0050] Step S5: Start the data acquisition and processing device 3 to collect and process data, obtain the inversion results and the abnormal point delineation results, and transmit them to the background terminal 5 for data reorganization, storage and display.

[0051] like Figure 6 As shown, the specific steps of step S5 are as follows:

[0052] Step S51: reading the apparent resistivity and coordinates of each four-claw electrode 44;

[0053] Step S52: After the apparent resistivity data is denoised, a limited memory quasi-Newton inversion is performed to obtain a two-dimensional resistivity profile; after obtaining the apparent resistivity information, due to noise interference, the apparent resistivity data has many jump points, which greatly affects the inversion effect, so a denoising operation is required. This embodiment is based on the volume effect of the underground anomaly body, and a regularized constrained linear equation system based on a second-order smooth matrix is ​​constructed. The optimized apparent resistivity data is obtained by minimizing the objective function, and the limited memory quasi-Newton method is used in the optimization process. Noise suppression of the apparent resistivity data is achieved. At the same time, it needs to be converted into a format suitable for GMM (Gaussian mixture model) input, thereby improving the accuracy and stability of model training. GMM is used to train and predict the preprocessed data.

[0054] Step S53: Further cluster the inverted resistivity data, map the clustered data to the grid, generate a clustered resistivity profile, and more accurately reflect the morphology of underground defects (electrical anomalies). The expectation maximization algorithm based on the electrical characteristic constraints of the detection target optimizes the selection of cluster number and cluster center, and the inversion results are more clearly displayed with the defect target as the guide.

[0055] Step S54: reorganize the surface image data (three-dimensional data) and the resistivity profile (2.5-dimensional data) obtained from the surface image data, re-characterize the underground information anomaly after cluster analysis, integrate the surface information, and display the detection results by constructing an underground disease distribution model based on surface characteristics, so that the detection results are more intuitive.

[0056] Step S6: After the data is saved, the survey is completed, the free end of the main chain 41 is dragged, the four-claw electrode 44 is pulled out of the test area, the main chain 41 and the main cable 42 are separated and the four-claw electrode 44 is removed, and the main chain 41 and the main cable 42 are retracted onto the rotating drum 28 through the wireless remote control.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A system for rapidly collecting and imaging electrical information of underground road defects, characterized by: It includes a wireless control device, a mobile loading device, a data acquisition and processing device, and an electrode arrangement device; the electrode arrangement device includes a main chain and a main cable, the main chain and the main cable are respectively wound on two rotating drums, a plurality of connecting chains are arranged on the main chain, the connecting chains are detachably connected to the main chain through a lock buckle, a length mark is arranged on the main chain, the main cable is detachably connected to the main chain through a buckle, a four-claw electrode is arranged at the tail end of the connecting chain, the four-claw electrode is connected to a connecting cable, the connecting cable is connected to the connecting area of ​​the main cable through a fixing fixture, the main cable is electrically connected to the data acquisition and processing device, the rotating drum and the data acquisition and processing device are both arranged on the mobile loading device, and the data acquisition and processing device and the mobile loading device are both in communication with the wireless control device; The four-claw electrode includes an electrode body, and four electrode claws are distributed circumferentially on the bottom end of the electrode body. The electrode claws include an integrally formed arc-shaped connecting portion and an insertion portion. The insertion portion is inclined, and the inclination angle between the insertion portion and the electrode body is 45°-55°; the arc-shaped connecting portion is arranged at the bottom end of the electrode body, and an electrode rod is embedded in the top end of the electrode body. The electrode rod is connected to one end of a connecting cable, and a fixing clamp is arranged at the other end of the connecting cable. The fixing clamp includes two symmetrically arranged arc-shaped metal plates, and the two arc-shaped metal plates are connected by fastening screws.

2. A road underground disease electrical information rapid acquisition imaging system according to claim 1, characterized in that: The length of the insertion part is 8-10cm, and the insertion part is made of copper alloy with a hardness range of HV80-120.

3. A road underground disease electrical information rapid acquisition imaging system according to claim 2, characterized in that: Both the main chain and the connecting chain are endless chains.

4. A road underground disease electrical information rapid acquisition imaging system according to claim 3, characterized in that: A plurality of electrode converters are detachably arranged on the main cable line, and the electrode converters are connected with cylindrical sheaths through connecting rods.

5. A road underground disease electrical information rapid acquisition imaging system according to claim 4, characterized in that: The mobile loading device includes a crawler loader; image acquisition cameras are arranged on the four sides and the bottom of the crawler loader for acquiring surface image data, and the acquired surface image data are spliced ​​by interpolation to obtain reconstructed surface image data of the measurement area; an obstacle avoidance radar is arranged on the top of the crawler loader; a protective fixed column is arranged between two rotating drums in the crawler loader for guiding the extension direction of the main chain; an exit is arranged at the rear of the crawler loader, a chain fixing buckle is arranged above the exit, and a fixed wire fence is slidably arranged at the opening.

6. A road underground disease electrical information rapid acquisition imaging system according to claim 5, characterized in that: The crawler loader is equipped with a power module, a control module, a drive module, a positioning module and a communication module. The power module provides power to the crawler loader, and the drive module is used to drive the crawler loader to move and the drum to rotate forward and reverse; the positioning module is used to collect position data of the crawler loader, and the communication module is used to control the reception and transmission of signals. The power module, the drive module, the positioning module and the communication module are all electrically connected to the control module; the wireless control device and the background terminal are in communication with the communication module.

7. A road underground disease electrical information rapid acquisition imaging system according to claim 6, characterized in that: The wireless control device is a wireless remote controller, which is provided with a receiving antenna, a direction control button, a retractable control button and a switch button.

8. The system for rapid acquisition and imaging of electrical information of underground road defects according to claim 7, characterized in that: The data acquisition and processing device includes a noise processing module, a data inversion module and an anomaly delineation module which are connected in sequence; The data inversion module and the anomaly delineation module are connected with a transmission module, and the transmission module communicates with a background terminal.

9. A method for exploring underground road damage electrical information rapid acquisition imaging system according to claim 8, characterized in that: The specific steps are as follows: Step S1: setting the length of the main chain and main cable according to the size of the measurement area, and determining the electrode spacing and number; Step S2: Control the crawler loader and the rotating drum by a wireless remote controller to place the main chain and the main cable, connect the main chain and the main cable together by a buckle and lay them in the measurement area, and arrange the four-claw electrodes according to the electrode spacing; at the same time, obtain the surface image data of the measurement area by the image acquisition camera on the crawler loader; Step S3: Start the crawler loader to drag the main chain to move so that the four-claw electrode is inserted into the test area; Step S4: starting the data acquisition and processing device to perform a self-check to confirm that all four-claw electrodes are inserted into the test area; Step S5: Start the data acquisition and processing device to collect and process data, obtain the inversion results and the abnormal point delineation results, and transmit them to the background terminal for data reorganization, storage and display; the specific steps of step S5 are as follows: Step S51: reading the apparent resistivity and coordinates of each four-claw electrode; Step S52: performing limited memory quasi-Newton inversion on the apparent resistivity data after denoising to obtain a two-dimensional resistivity profile; Step S53: further clustering the inverted resistivity data, mapping the clustered data to a grid, and generating a clustered resistivity profile; Step S54: reorganizing the surface image data obtained from the surface image data and the resistivity profile, and displaying the detection results by constructing an underground disease distribution model based on surface characteristics; Step S6: After the data is saved, the survey is completed, the free end of the main chain is dragged, the four-claw electrode is pulled out of the test area, the main chain and the main cable are separated and the four-claw electrode is disassembled, and the main chain and the main cable are retracted onto the drum through the wireless remote control.

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