Device and method for electrical detection of underground unmanned tracked vehicle

Abstract

The invention discloses a device and method for electrical detection of an underground unmanned crawler, and the device comprises the unmanned crawler, a conductive adhesive spraying mechanism and an automatic take-up and pay-off mechanism, and the conductive adhesive spraying mechanism can spray conductive adhesive at each electrode arrangement point to form a liquid electrode. Data transmission large lines arranged by the automatic take-up and pay-off mechanism are matched with one another, so that the arrangement of the observation system is realized; after being sprayed, the conductive adhesive can permeate into the interior through a crack part on the surrounding rock, a conductive layer is formed on the surface of the electrode arrangement point, and then the conductive area of the data transmission large line and the conductive layer of the electrode arrangement point are tightly coupled by combining specific secondary adhesive spraying, so that the arrangement of the observation system is realized; due to the fact that the conductive adhesive is liquid, spraying construction is facilitated, and a clamp does not need to be inserted and pulled in the laying process, the small unmanned crawler can achieve unmanned electrical method detection of a narrow underground space, the needed detection precision can be achieved, and data support is provided for follow-up underground space construction.

Description

Technical Field

[0001] The invention relates to a device and a method for electrical detection of underground unmanned tracked vehicles, belonging to the technical field of electrical detection of unmanned tracked vehicles. Background Art

[0002] With the continuous development of underground space detection technology, the demand for electrical detection under complex geological conditions is growing. However, traditional electrical detection methods are facing many challenges at this stage. The underground geological structure is complex and changeable, the working space is narrow and irregular, and there may be dangerous environments such as toxic gases, which severely restricts personnel entry and operations. At the same time, the implementation of electrical detection often requires the layout of electrodes and measuring lines. This process usually relies on manual operation, which is not only time-consuming and labor-intensive, but also poses great safety risks.

[0003] Traditional electrical detection usually uses metal copper rod electrodes, which are mostly used in ground soil environments. The electrodes can be driven into the soil relatively easily and can effectively couple with the soil layer to ensure that the electric field information is collected. However, when the detection area is located in the underground space, the surrounding rock and the bottom plate are usually relatively hard, and even manually drilling electrodes is extremely difficult, and even impossible in some cases. In this case, it is almost impossible to require unmanned crawlers to automatically lay out electrodes underground; the specific reasons are as follows: 1. The rocks around the underground space are all rocks, and the hammering force required for electrode arrangement is too large, which is difficult for small robots to achieve, and it is difficult for large robots to enter the underground space. 2. If a drilling device is provided in a small robot to insert the electrode through pre-drilling, it cannot guarantee the quality of the pre-drilled hole coupling with the electrode. 3. Since more monitoring potentials need to be laid out during detection, this leads to a large number of electrodes, and the weight of the electrode itself is large. The load capacity of a small robot is limited and it cannot carry a large number of electrodes. 4. It is difficult to recycle the electrodes. If a large underground space needs to be detected, it is necessary to recycle and reuse the electrodes that have been deployed and detected. However, since the electrode insertion and coupling with the rock are difficult to recycle, and since they cannot be recycled, the robot needs to return to the initial position to load the electrodes after each detection of a certain distance before continuing to detect. 5. After the electrode is inserted into the rock, it still needs to be connected to the main line. The traditional plug-in clamp method requires high operating accuracy of the robot arm, and too many plug-in clamps will cause entanglement with the main line. Even manual winding will face this problem. Although application numbers 202120345807.4 and 202110162544.8 are both automatic exploration vehicles for electrical exploration, and it is proposed to use automatic exploration vehicles to insert electrodes into the soil, it is clearly stated that the applicable conditions are soil. Directly converting the above two devices to underground rock detection will also have the above-mentioned difficult-to-overcome technical problems. Therefore, at this stage, there is almost no method to achieve unmanned electrical exploration of underground space.

[0004] In response to the above problems, how to provide a new device and method that can realize unmanned electrical detection of underground spaces, especially those surrounded by hard rocks, and achieve the required detection accuracy to provide data support for subsequent underground space excavation is the research direction required by the present invention. Summary of the invention

[0005] In response to the problems existing in the above-mentioned prior art, the present invention provides a device and method for electrical detection by an unmanned underground tracked vehicle, which can realize unmanned electrical detection of underground spaces, especially locations with hard rocks around them, and can achieve the required detection accuracy, thereby providing data support for subsequent underground space construction.

[0006] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a device for underground unmanned tracked vehicle to perform electrical detection, comprising an unmanned tracked vehicle, a conductive glue spraying mechanism, an automatic wire retracting and releasing mechanism and an electrical detection host; The unmanned tracked vehicle is equipped with a camera and a mechanical arm, wherein the camera is used to photograph the surrounding environment and feed it back to the control center of the unmanned tracked vehicle for analysis and navigation and control of the movement of the mechanical arm; a mechanical hand is installed at the end of the mechanical arm, which is used to receive control instructions from the control center, move to a desired position and control the movement of the mechanical hand; The conductive glue spraying mechanism includes a storage tank, a delivery pump and a nozzle. The storage tank and the delivery pump are both installed on the unmanned crawler vehicle, and the nozzle is installed at the end of the mechanical arm. The storage tank is used to store the conductive glue. The delivery pump is connected to the conductive glue storage tank and the nozzle through pipelines, respectively, and is used to transport the conductive glue from the storage tank to the nozzle, and spray it to the required position to form an electrode layout point. The automatic wire-reeling and reeling mechanism comprises an automatic wire-reeling and reeling roller, a rotating motor and a data transmission wire. The automatic wire-reeling and reeling roller is mounted on the unmanned tracked vehicle through a bracket and can rotate on the bracket; the rotating motor is mounted on the bracket and is coaxially connected to the automatic wire-reeling and reeling roller, and is used to drive the automatic wire-reeling and reeling roller to rotate; the data transmission wire is wound around the automatic wire-reeling and reeling roller, and one end of the data transmission wire is connected to the electrical method host. When the automatic wire-reeling and reeling roller rotates forward, the data transmission wire can be extended from the automatic wire-reeling and reeling roller and laid at a desired position. When the automatic wire-reeling and reeling roller rotates reversely, the data transmission wire can be recovered from the laying position to the automatic wire-reeling and reeling roller; a plurality of conductive areas are provided on the data transmission wire, and each conductive area is coupled with each electrode laying point when laid, so as to perform electrical method detection and feedback to the electrical method host.

[0007] Furthermore, it also includes a reference measuring point connecting line retracting and releasing mechanism, which is the same as the automatic retracting and releasing mechanism, except that the data transmission line is replaced by a connecting line, and the electrical method host is connected to the reference measuring point through the connecting line. The connecting line only needs to be connected to the reference measuring point, so only the two ends are electrically connected, and there is no conductive area in the other parts.

[0008] Furthermore, the camera is a binocular camera.

[0009] Furthermore, the robotic arm is a multi-joint robotic arm.

[0010] Furthermore, a storage module is provided on the unmanned tracked vehicle, and the storage module is used to store the potential data acquired by the electrical method host detection.

[0011] The working method of the above-mentioned device for electrical detection of underground unmanned tracked vehicles comprises the following specific steps: Step 1: First glue spraying: store the position of the electrode layout point in the control center of the unmanned tracked vehicle in advance, then make the unmanned tracked vehicle stop when it reaches the first electrode layout point in the required detection area, move the end of the mechanical arm to the position of the electrode layout point, and start the conductive glue spraying mechanism. The delivery pump sprays the conductive glue on the surrounding rock or bottom plate at the electrode layout point through the nozzle. The conductive glue can penetrate into the interior through the cracks on the surrounding rock or bottom plate to form a conductive layer on the surface of the electrode layout point. The spraying situation is confirmed by the camera until the coupling requirements are met to complete the first glue spraying process of the electrode layout point; Step 2, the electrode layout point is connected with the data transmission line: the control center controls the movement of the robot arm and starts the rotating motor to rotate forward, releases the data transmission line wrapped on the automatic reel roller, and the camera takes real-time pictures of the real-time position of the data transmission line during the layout process and feeds back to the control center. After analysis, the control center controls the robot arm to adjust the position of the data transmission line so that the data transmission line passes through the first electrode layout point. Then, the robot arm brings one of the conductive areas of the data transmission line into close contact with the conductive layer formed by the first electrode layout point. After completion, the conductive glue spraying mechanism is started, and the delivery pump sprays the conductive glue on the contact position between the conductive area and the conductive layer through the nozzle, and wraps the conductive area and lays it at the first electrode layout point, completing the secondary glue spraying process of the first electrode layout point; Step 3: Laying out each electrode layout point and data transmission line: Then the unmanned crawler continues to move, and the automatic wire retracting and releasing rollers continue to release the data transmission line during the movement until it reaches the second electrode layout point, and repeats the process of steps 1 and 2 to complete the glue spraying and laying out the data transmission line at the second electrode layout point, and repeats this process until the glue spraying and data transmission line laying work of all electrode layout points is completed; Step 4: Arrange reference measuring points: After the data transmission line is arranged at each electrode layout point, a reference measuring point is set at a certain distance from each electrode layout point as a reference electrode. The unmanned tracked vehicle drives to the reference measuring point, and first sprays glue on the reference measuring point to form a conductive layer (i.e., in accordance with the method of step 1). Then, the reference measuring point connecting line retracting and releasing mechanism and the manipulator are controlled to contact one end of the connecting line with the reference measuring point, and then spray glue for the second time (i.e., in accordance with the method of step 2). The reference measuring point is connected to the electrical method host through the conductive glue and the connecting line, and finally an electrical method observation system is formed; the electrical method host is started to perform four-level parallel electrical method detection on the observation system formed by each electrode layout point and the reference measuring point, so as to obtain the electrical method data of the required detection area; Step 5. Recovering the data transmission wire: After completing the electrical data collection work, the control center starts the robotic arm and manipulator to pull out the data transmission wire at each electrode layout point and the connecting wire at the reference measuring point from the conductive glue in turn, and controls the automatic wire retracting mechanism and the reference measuring point connecting wire retracting mechanism to rotate their respective rotating motors in the opposite direction to recover the data transmission wire and the connecting wire respectively, thereby completing the detection work in the area.

[0012] Furthermore, the conductive adhesive is a silver conductive adhesive. Special conductive adhesives can also be used. Both are existing conductive adhesives. If special conductive adhesives are used, their conductive properties and bonding strength need to be tested and can only be used if they meet the required requirements.

[0013] Compared with the prior art, the present invention adopts a combination of an unmanned crawler vehicle, a conductive glue spraying mechanism, an automatic retractable wire mechanism and an electrical method host. The conductive glue spraying mechanism can spray conductive glue at each electrode layout point to form a liquid electrode, and the data transmission wires laid by the automatic retractable wire mechanism cooperate with each other to realize the layout of the observation system, replacing the existing ordinary copper rod electrode and plug-in clamp layout method; the conductive glue forms a liquid electrode, which can be proved by experiments to have basically the same detection accuracy as the existing copper rod electrode. Therefore, the present invention carries conductive glue, and when sprayed for the first time, the conductive glue can pass through the surrounding rock or bottom plate. The cracks on the surface penetrate into the interior, making the coupling effect of the conductive glue and the rock mass better, and forming a conductive layer on the surface of the electrode layout point, and then combined with the specific secondary spray glue, the conductive area of ​​the data transmission line and the conductive layer of the electrode layout point are tightly coupled to realize the layout of the observation system; finally, the detection of the required position is completed; after completion, it can be easily recovered by a manipulator; and because the conductive glue is liquid, it is easy to carry and spray construction, and there is no need to plug and unplug clamps during the layout process, so that the small unmanned crawler vehicle can realize unmanned electrical detection of small underground spaces, and can achieve the required detection accuracy, providing data support for subsequent underground space construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the device in the present invention; Figure 2 It is a schematic diagram of the unmanned electric method deployment and detection of the present invention; Figure 3 It is a structural schematic diagram of the data transmission line in the present invention; Figure 4 This is the resistivity image after detection by ordinary copper rod electrode in experimental proof; Figure 5 This is the resistivity imaging diagram after detection of the new type of liquid electrode formed by the solidification of conductive gel in the experiment. DETAILED DESCRIPTION

[0015] The present invention will be further described below.

[0016] like Figure 1 As shown, a device for underground unmanned tracked vehicle to perform electrical detection includes an unmanned tracked vehicle, a conductive glue spraying mechanism, an automatic wire retracting and releasing mechanism and an electrical detection host; The unmanned tracked vehicle is equipped with a camera and a mechanical arm, wherein the camera is used to photograph the surrounding environment and feed it back to the control center of the unmanned tracked vehicle for analysis and navigation and control of the movement of the mechanical arm; a mechanical hand is installed at the end of the mechanical arm, which is used to receive control instructions from the control center, move to a desired position and control the movement of the mechanical hand; The conductive glue spraying mechanism includes a storage tank, a delivery pump and a nozzle. The storage tank and the delivery pump are both installed on the unmanned crawler vehicle, and the nozzle is installed at the end of the mechanical arm. The storage tank is used to store the conductive glue. The delivery pump is connected to the conductive glue storage tank and the nozzle through pipelines, respectively, and is used to transport the conductive glue from the storage tank to the nozzle, and spray it to the required position to form an electrode layout point. The automatic wire-reeling and reeling mechanism comprises an automatic wire-reeling and reeling roller, a rotating motor and a data transmission wire. The automatic wire-reeling and reeling roller is mounted on the unmanned tracked vehicle through a bracket and can rotate on the bracket; the rotating motor is mounted on the bracket and is coaxially connected to the automatic wire-reeling and reeling roller to drive the automatic wire-reeling and reeling roller to rotate; the data transmission wire is wound on the automatic wire-reeling and reeling roller, and one end of the data transmission wire is connected to the electrical method host. When the automatic wire-reeling and reeling roller rotates forward, the data transmission wire can be extended from the automatic wire-reeling and reeling roller and laid at a desired position. When the automatic wire-reeling and reeling roller rotates reversely, the data transmission wire can be recovered from the laying position to the automatic wire-reeling and reeling roller; Figure 3 As shown, the data transmission line is provided with a plurality of conductive areas, each conductive area is coupled with each electrode layout point when laid out, and is used for electrical detection and feedback to the electrical method host; it also includes a reference measuring point connecting line retracting and releasing mechanism, which is the same as the automatic retracting and releasing mechanism, the only difference is that the data transmission line is replaced by a connecting line, and the electrical method host is connected to the reference measuring point through the connecting line.

[0017] As an improvement of the present invention, the camera is a binocular camera; the robotic arm is a multi-joint robotic arm; a storage module is provided on the unmanned tracked vehicle, and the storage module is used to store potential data acquired by electrical method host detection.

[0018] The above-mentioned unmanned tracked vehicle, camera, robotic arm, storage tank, delivery pump, automatic wire reel roller, rotating motor, data transmission line and electrical method host are all existing components or equipment, which can be purchased on the market. The present invention only utilizes their existing functions to achieve the purpose of the present invention; in addition, the control center drives the unmanned tracked vehicle to move according to the images taken by the camera and controls the robotic arm and manipulator using existing programs.

[0019] The working method of the above-mentioned device for underground unmanned tracked vehicle to perform electrical detection is as follows: Figure 2 As shown, the specific steps are: Step 1, first glue spraying: store the position of the electrode layout point in the control center of the unmanned tracked vehicle in advance, then make the unmanned tracked vehicle stop when it reaches the first electrode layout point in the required detection area, move the end of the mechanical arm to the position of the electrode layout point, and start the conductive glue spraying mechanism. The delivery pump sprays the conductive glue on the surrounding rock or bottom plate at the electrode layout point through the nozzle. The conductive glue can penetrate into the interior through the cracks on the surrounding rock or bottom plate to form a conductive layer on the surface of the electrode layout point. The spraying situation is confirmed by the camera until the coupling requirements are met and the first glue spraying process of the electrode layout point is completed; the conductive glue is a silver-based conductive glue. Special conductive glue can also be used. Both are existing conductive glues. If special conductive glue is used, its conductive performance and bonding strength need to be tested, and it can be used only if it meets the required requirements.

[0020] Step 2. Connecting the electrode layout point with the data transmission line: The control center controls the movement of the robot arm and starts the rotating motor to rotate forward, releasing the data transmission line wrapped on the automatic reel-and-reel roller. The camera captures the real-time position of the data transmission line during the layout process and feeds back to the control center. After analysis, the control center controls the robot arm to adjust the position of the data transmission line so that the data transmission line passes through the first electrode layout point. Then, the robot arm brings one of the conductive areas of the data transmission line into close contact with the conductive layer formed at the first electrode layout point. After completion, the conductive glue spraying mechanism is started, and the delivery pump sprays the conductive glue on the contact position between the conductive area and the conductive layer through the nozzle, and wraps the conductive area and arranges it at the first electrode layout point to form a detection electrode, completing the secondary glue spraying process at the first electrode layout point.

[0021] Step 3: Laying out each electrode layout point and data transmission line: Then the unmanned crawler vehicle continues to move forward, and the automatic retractable wire roller continues to release the data transmission line during the movement until it reaches the second electrode layout point, and repeats the process of steps one and two to complete the glue spraying and laying of the data transmission line at the second electrode layout point, and repeats this process until the glue spraying and data transmission line laying work of all electrode layout points is completed.

[0022] Step 4: Arrange reference measuring points: After the data transmission line is arranged at each electrode arrangement point, a reference measuring point is set at a certain distance from each electrode arrangement point as a reference electrode. The unmanned crawler vehicle drives to the reference measuring point, first sprays glue on the reference measuring point (i.e., in accordance with step 1), then controls the reference measuring point connection line retracting and releasing mechanism and manipulator, makes one end of the connection line contact with the reference measuring point, and sprays glue for the second time (i.e., in accordance with step 2), so that the conductive glue fixes the connection line at the reference measuring point, and finally forms an electrical observation system. The electrical observation system is set by default that each electrode on the data transmission line can be used as pole A, pole B and measuring electrode; the electrical host is started to perform four-level parallel electrical detection on the observation system formed by each electrode arrangement point and the reference measuring point, so as to obtain the electrical data of the required detection area; the four-level parallel electrical detection does not require the arrangement of infinite electrodes, only the reference electrode. And this method can collect data efficiently to save the power of the crawler vehicle.

[0023] Step 5. Recovering the data transmission wire: After completing the electrical data collection work, the control center starts the robotic arm and manipulator to pull out the data transmission wire at each electrode layout point and the connecting wire at the reference measuring point from the conductive glue in turn, and controls the automatic wire retracting mechanism and the reference measuring point connecting wire retracting mechanism to rotate their respective rotating motors in the opposite direction to recover the data transmission wire and the connecting wire respectively, thereby completing the detection work in the area.

[0024] Experimental proof: In order to verify that the liquid electrode formed by spraying conductive glue on the rock surface can replace the common copper rod electrode and the plug-in clamp layout method for electrical detection, the following experiment was conducted: A 40*30*50cm pit was dug on the surface of the selected mountain area, and a hollow plastic box (high-resistance anomaly) was placed and buried, and the topsoil was compacted. The experiment was designed with 16 electrodes, with an electrode distance of 0.2m and a total length of 3m. Then, ordinary copper rod electrodes (traditional electrical detection electrodes) were arranged at each detection point to conduct electrical detection of the anomaly. Then, conductive glue was sprayed at the same detection point to couple with the rock mass to form a liquid electrode to conduct electrical detection of the same anomaly again, and the electrical method used for the two detections was the same.

[0025] The final experimental results are as follows Figure 4 and 5As shown, it can be seen from the imaging diagram that the positions of the anomalies determined after the two electrode electrical detection methods are basically similar, and both can achieve a high degree of accuracy in deriving the positions of the preset anomalies. This indicates that the liquid electrode formed after the conductive glue is coupled with the rock mass can achieve the accuracy of data collection of an ordinary copper rod electrode, thereby providing data support for the implementation of the present invention.

[0026] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A device for electrical detection of underground unmanned tracked vehicles, characterized in that: It includes an unmanned tracked vehicle, a conductive glue spraying mechanism, an automatic wire-retracting and releasing mechanism, and an electrical method host machine; The unmanned tracked vehicle is equipped with a camera and a mechanical arm, wherein the camera is used to photograph the surrounding environment and feed it back to the control center of the unmanned tracked vehicle for analysis and navigation and control of the movement of the mechanical arm; a mechanical hand is installed at the end of the mechanical arm, which is used to receive control instructions from the control center, move to a desired position and control the movement of the mechanical hand; The conductive glue spraying mechanism includes a storage tank, a delivery pump and a nozzle. The storage tank and the delivery pump are both installed on the unmanned crawler vehicle, and the nozzle is installed at the end of the mechanical arm. The storage tank is used to store the conductive glue. The delivery pump is connected to the conductive glue storage tank and the nozzle through pipelines, respectively, and is used to transport the conductive glue from the storage tank to the nozzle, and spray it to the required position to form an electrode layout point. The automatic wire-reeling and reeling mechanism comprises an automatic wire-reeling and reeling roller, a rotating motor and a data transmission wire. The automatic wire-reeling and reeling roller is mounted on the unmanned tracked vehicle through a bracket and can rotate on the bracket; the rotating motor is mounted on the bracket and is coaxially connected to the automatic wire-reeling and reeling roller, and is used to drive the automatic wire-reeling and reeling roller to rotate; the data transmission wire is wound around the automatic wire-reeling and reeling roller, and one end of the data transmission wire is connected to the electrical method host. When the automatic wire-reeling and reeling roller rotates forward, the data transmission wire can be extended from the automatic wire-reeling and reeling roller and laid at a desired position. When the automatic wire-reeling and reeling roller rotates reversely, the data transmission wire can be recovered from the laying position to the automatic wire-reeling and reeling roller; a plurality of conductive areas are provided on the data transmission wire, and each conductive area is coupled with each electrode laying point when laid, so as to perform electrical method detection and feedback to the electrical method host.

2. The device for underground unmanned tracked vehicle to perform electrical detection according to claim 1, characterized in that: It also includes a reference measuring point connecting line retracting and releasing mechanism, which is the same as the automatic retracting and releasing mechanism, the only difference is that the data transmission line is replaced by a connecting line, and the electrical method host is connected to the reference measuring point through the connecting line.

3. The device for electrical detection of underground unmanned tracked vehicles according to claim 1, characterized in that: The camera is a binocular camera.

4. The device for electrical detection of underground unmanned tracked vehicles according to claim 1, characterized in that: The robotic arm is a multi-joint robotic arm.

5. The device for underground unmanned tracked vehicle to perform electrical detection according to claim 1, characterized in that: A storage module is provided on the unmanned tracked vehicle, and the storage module is used to store potential data acquired by electrical method host detection.

6. A method for operating the device for electrical detection of underground unmanned tracked vehicles according to any one of claims 1 to 5, characterized in that: The specific steps are: Step 1: First glue spraying: store the position of the electrode layout point in the control center of the unmanned tracked vehicle in advance, then make the unmanned tracked vehicle stop when it reaches the first electrode layout point in the required detection area, move the end of the mechanical arm to the position of the electrode layout point, and start the conductive glue spraying mechanism. The delivery pump sprays the conductive glue on the surrounding rock or bottom plate at the electrode layout point through the nozzle. The conductive glue can penetrate into the interior through the cracks on the surrounding rock or bottom plate to form a conductive layer on the surface of the electrode layout point. The spraying situation is confirmed by the camera until the coupling requirements are met to complete the first glue spraying process of the electrode layout point; Step 2, the electrode layout point is connected with the data transmission line: the control center controls the movement of the robot arm and starts the rotating motor to rotate forward, releases the data transmission line wrapped on the automatic reel roller, and the camera takes real-time pictures of the real-time position of the data transmission line during the layout process and feeds back to the control center. After analysis, the control center controls the robot arm to adjust the position of the data transmission line so that the data transmission line passes through the first electrode layout point. Then, the robot arm brings one of the conductive areas of the data transmission line into close contact with the conductive layer formed by the first electrode layout point. After completion, the conductive glue spraying mechanism is started, and the delivery pump sprays the conductive glue on the contact position between the conductive area and the conductive layer through the nozzle, and wraps the conductive area and lays it at the first electrode layout point, completing the secondary glue spraying process of the first electrode layout point; Step 3: Laying out each electrode layout point and data transmission line: Then the unmanned crawler continues to move, and the automatic wire retracting and releasing rollers continue to release the data transmission line during the movement until it reaches the second electrode layout point, and repeats the process of steps 1 and 2 to complete the glue spraying and laying out the data transmission line at the second electrode layout point, and repeats this process until the glue spraying and data transmission line laying work of all electrode layout points is completed; Step 4: Arrange reference measuring points: After the data transmission lines are arranged at each electrode arrangement point, a reference measuring point is set at a certain distance from each electrode arrangement point as a reference electrode. The unmanned tracked vehicle drives to the reference measuring point, sprays glue for the first time on the reference measuring point, and then controls the reference measuring point connecting line retracting and releasing mechanism and the manipulator to contact one end of the connecting line with the reference measuring point, and sprays glue for the second time. The reference measuring point is connected to the electrical method host through the conductive glue and the connecting line, and finally an electrical method observation system is formed; Start the electrical method host to perform four-level parallel electrical method detection on the observation system formed by each electrode layout point and reference measurement point, so as to obtain the electrical method data of the required detection area; Step 5. Recovering the data transmission wire: After completing the electrical data collection work, the control center starts the robotic arm and manipulator to pull out the data transmission wire at each electrode layout point and the connecting wire at the reference measuring point from the conductive glue in turn, and controls the automatic wire retracting mechanism and the reference measuring point connecting wire retracting mechanism to rotate their respective rotating motors in the opposite direction to recover the data transmission wire and the connecting wire respectively, thereby completing the detection work in the area.

7. The working method according to claim 6, characterized in that: The conductive adhesive is a silver-based conductive adhesive.

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