An apparatus and method for electrical prospecting using an underground unmanned tracked vehicle

Abstract

The present invention discloses a device and method for electrical prospecting using an underground unmanned tracked vehicle, which includes an unmanned tracked vehicle, a conductive glue spraying mechanism, and an automatic wire winding and unwinding mechanism. The conductive glue spraying mechanism can spray conductive glue at each electrode layout point to form liquid electrodes, and cooperate with the data transmission large wire laid by the automatic wire winding and unwinding mechanism to realize the layout of the observation system; after the conductive glue is sprayed, it can partially penetrate into the interior through the cracks in the surrounding rock to form a conductive layer on the surface of the electrode layout point, and then combine with specific secondary spraying glue to closely couple the conductive area of the data transmission large wire and the conductive layer of the electrode layout point to realize the layout of the observation system; since the conductive glue is liquid, it is convenient for spraying construction and there is no need to plug and unplug clips during the layout process, so that the small unmanned tracked vehicle can realize unmanned electrical prospecting in a narrow underground space and can achieve the required detection accuracy, providing data support for subsequent underground space construction.

Description

Technical Field

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

[0002] With the continuous development of underground space exploration technology, the demand for electrical prospecting under complex geological conditions is increasing. However, at the present stage, traditional electrical prospecting methods face many challenges. The underground geological structure is complex and changeable, the working space is narrow and irregular, and it may contain dangerous environments such as toxic gases, which severely restricts the entry and operation of personnel. At the same time, the implementation of electrical prospecting often requires the arrangement of electrodes and survey lines. This process usually relies on manual operation, which is not only time-consuming and laborious, but also poses a great safety risk.

[0003] Traditional electrical prospecting usually uses metal copper rod electrodes, which are mostly used in ground soil environments. The electrodes can be relatively easily driven into the soil and can effectively couple with the soil to ensure the acquisition of electric field information. However, when the detection area is located in the underground space, the surrounding rock and floor are usually very hard, and it is extremely difficult to drive the electrodes in manually, and even impossible in some cases. In this case, it is almost an impossible task to require an unmanned tracked vehicle to automatically deploy 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 more difficult for large robots to enter the underground space. 2. If a small robot is equipped with a drilling device to insert the electrode after pre-drilling, it cannot ensure the coupling quality between the pre-drilled hole and the electrode. 3. Since a large number of monitoring potentials need to be arranged during detection, this results in a large number of electrodes, and the weight of the electrode itself is relatively large. The load capacity of small robots is limited and they cannot carry a large number of electrodes. 4. The difficulty of electrode recovery is large. If a large underground space area needs to be detected, the electrodes that have been deployed and detected need to be recovered and reused. However, due to the difficulty of inserting and coupling the electrodes with the rocks for recovery, and since they cannot be recovered and reused, the robot needs to return to the initial position to load the electrodes after detecting a certain distance before it can continue to detect. 5. After the electrode is inserted into the rock, it still needs to be connected to the main line. The traditional plug-and-unplug clip method requires a high operating accuracy for the robot's robotic arm, and too many plug-and-unplug clips will entangle with the main line. Even manual wire collection will face this problem. Although the application numbers 202120345807.4 and 202110162544.8 are both automatic exploration vehicles for electrical prospecting, which propose to use an automatic exploration vehicle to insert the electrode into the soil, it is clearly pointed out that the applicable condition is the soil. Directly applying the above two devices to the detection of underground space rock masses will also have the above-mentioned insurmountable technical problems. Therefore, at the present stage, there is almost no method to realize unmanned electrical prospecting in underground spaces.

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

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

[0006] To achieve the above object, the technical solution adopted by the present invention is: A device for electrical prospecting using an underground unmanned tracked vehicle, comprising an unmanned tracked vehicle, a conductive glue spraying mechanism, an automatic wire winding and unwinding mechanism, and an electrical prospecting mainframe;

[0007] The unmanned tracked vehicle is equipped with a camera and a robotic arm. 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 then for navigation and control of the movement of the robotic arm; A manipulator is installed at the end of the robotic arm, which is used to receive the control instruction from the control center, move to the required position, and control the actions of the manipulator.

[0008] 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 tracked vehicle, and the nozzle is installed at the end of the robotic arm. The storage tank is used to store conductive glue. The delivery pump is connected to the conductive glue storage tank and the nozzle through pipelines, and is used to transport the conductive glue from the storage tank to the nozzle and spray it to the required position to form electrode layout points.

[0009] The automatic wire winding and unwinding mechanism includes an automatic wire winding and unwinding roller, a rotating motor, and a large data transmission wire. The automatic wire winding and unwinding roller is installed on the unmanned tracked vehicle through a bracket and can rotate on the bracket; The rotating motor is installed on the bracket and is coaxially connected to the automatic wire winding and unwinding roller, and is used to drive the automatic wire winding and unwinding roller to rotate; The large data transmission wire is wound around the automatic wire winding and unwinding roller, and one end of the large data transmission wire is connected to the electrical prospecting mainframe. When the automatic wire winding and unwinding roller rotates forward, it can extend the large data transmission wire from the automatic wire winding and unwinding roller and lay it at the required position. When the automatic wire winding and unwinding roller rotates in reverse, it can recover the large data transmission wire from the laying position to the automatic wire winding and unwinding roller; Multiple conductive areas are provided on the large data transmission wire, and each conductive area is coupled to each electrode layout point during layout, and is used for electrical prospecting and feedback to the electrical prospecting mainframe.

[0010] Further, it also includes a retractable mechanism for the connecting line of the reference measuring point. This mechanism is the same as the automatic retractable line mechanism, except that the large data transmission line is replaced by a connecting line, and the electrical method main machine 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 it is only electrically connected at both ends, and there is no conductive area in other parts.

[0011] Further, the camera is a binocular camera.

[0012] Further, the robotic arm is a multi-joint robotic arm.

[0013] Further, a storage module is provided on the unmanned tracked vehicle, and the storage module is used to store the potential data detected by the electrical method main machine.

[0014] The working method of the above device for electrical method detection using an underground unmanned tracked vehicle is as follows:

[0015] Step 1: First spraying of conductive glue: Store the positions of the electrode layout points in advance in the control center of the unmanned tracked vehicle. Then, make the unmanned tracked vehicle stop when it reaches the first electrode layout point in the area to be detected. Move the end of the robotic arm to the position of the electrode layout point, and start the conductive glue spraying mechanism. The transfer pump sprays the conductive glue on the surrounding rock or the floor at the electrode layout point through the nozzle. The conductive glue can penetrate into the interior through the cracks in the surrounding rock or the floor to form a conductive layer on the surface of the electrode layout point. Confirm the spraying situation through the camera until the coupling requirement is met to complete the first spraying process of the electrode layout point.

[0016] Step 2: Connect the electrode layout point to the large data transmission line: The control center controls the movement of the robotic arm and starts the rotation motor to rotate forward to release the large data transmission line wound around the automatic retractable line roller. The camera takes real-time pictures of the real-time position during the layout process of the large data transmission line and feeds it back to the control center. After analysis by the control center, it controls the manipulator to adjust the position of the large data transmission line so that the large data transmission line passes through the first electrode layout point. Then, through the manipulator, one of the conductive areas of the large data transmission line is closely contacted with the conductive layer formed by the first electrode layout point. After completion, start the conductive glue spraying mechanism. The transfer pump sprays the conductive glue on the contact position between the conductive area and the conductive layer to wrap the conductive area and lay it at the first electrode layout point to complete the second spraying process of the first electrode layout point.

[0017] Step 3: Layout of each electrode layout point and the large data transmission line: Then, the unmanned tracked vehicle continues to move forward. During the movement, the automatic retractable line roller continuously releases the large data transmission line until it reaches the second electrode layout point, and repeat the processes of Step 1 and Step 2 to complete the spraying of the conductive glue and the layout of the large data transmission line at the second electrode layout point. Repeat this process until the spraying of the conductive glue and the layout of the large data transmission line for all electrode layout points are completed.

[0018] Step 4: Arranging reference measuring points: After the data transmission large lines are arranged at each electrode layout point, set reference measuring points as reference electrodes at a certain position away from each electrode layout point. The unmanned tracked vehicle drives to the reference measuring point, first sprays glue for the first time on the reference measuring point to form a conductive layer (i.e., in the manner of Step 1), then controls the retracting and releasing mechanism of the reference measuring point connection line and the manipulator, makes one end of the connection line contact with the reference measuring point, and sprays glue for the second time (i.e., in the manner of Step 2). The reference measuring point is connected to the electrical method mainframe through the conductive glue and the connection line, and finally an electrical method observation system is formed; start the electrical method mainframe to conduct 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;

[0019] Step 5: Recycling the data transmission large lines: When the electrical method data acquisition work is completed, the control center starts the robotic arm and the manipulator to pull out the data transmission large lines at each electrode layout point and the connection lines at the reference measuring point from the conductive glue in sequence, and controls the rotation motors of the automatic wire retracting and releasing mechanism and the retracting and releasing mechanism of the reference measuring point connection line to rotate in the reverse direction respectively to recycle the data transmission large lines and the connection lines, so as to complete the detection work in this area.

[0020] Furthermore, the conductive glue is 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 when the required requirements are met.

[0021] Compared with the prior art, the present invention combines an unmanned tracked vehicle, a conductive glue spraying mechanism, an automatic wire retracting and releasing mechanism and an electrical method mainframe. The conductive glue spraying mechanism can spray conductive glue at each electrode layout point to form liquid electrodes, and cooperate with the data transmission large lines arranged by the automatic wire retracting and releasing mechanism to realize the layout of the observation system, replacing the existing method of arranging ordinary copper rod electrodes and plug-and-clamp; among them, the liquid electrodes formed by the conductive glue can be proved by experiments to have basically the same detection accuracy as the existing copper rod electrodes. Therefore, by carrying the conductive glue, when spraying for the first time, the conductive glue can partially penetrate into the interior through the cracks in the surrounding rock or the floor, so that the coupling effect between the conductive glue and the rock mass is better, and a conductive layer is formed on the surface of the electrode layout point. Then, combined with specific secondary glue spraying, the conductive area of the data transmission large 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 conveniently recycled through the manipulator; and because the conductive glue is liquid, it is convenient to carry and spray during construction and there is no need for plug-and-clamp during the layout process, so that the small unmanned tracked vehicle can realize unmanned electrical method detection of narrow underground spaces and can achieve the required detection accuracy, providing data support for subsequent underground space construction. Description of the Drawings

[0022] Figure 1 is a schematic structural diagram of the device in the present invention;

[0023] Figure 2 is a schematic diagram of the unmanned electrical method layout and detection in the present invention;

[0024] Figure 3 is a schematic structural diagram of the data transmission antenna in the present invention;

[0025] Figure 4 is a resistivity imaging diagram after detection by a common copper rod electrode in experimental verification;

[0026] Figure 5 is a resistivity imaging diagram after detection by a new type of liquid electrode formed by the solidification of conductive glue in experimental verification. Detailed implementation manner

[0027] The present invention will be further described below.

[0028] As Figure 1 shown, a device for electrical method detection by an underground unmanned tracked vehicle includes an unmanned tracked vehicle, a conductive glue spraying mechanism, an automatic wire winding and unwinding mechanism, and an electrical method main machine;

[0029] The unmanned tracked vehicle is equipped with a camera and a robotic arm. The camera is used to photograph the surrounding environment and feedback it to the control center of the unmanned tracked vehicle for analysis, and then for navigation and controlling the movement of the robotic arm; a manipulator is installed at the end of the robotic arm, which is used to receive the control instruction of the control center, move to the required position, and control the action of the manipulator;

[0030] 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 tracked vehicle, and the nozzle is installed at the end of the robotic arm. The storage tank is used to store 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;

[0031] The automatic wire winding and unwinding mechanism includes an automatic wire winding and unwinding roller, a rotating motor, and a data transmission antenna. The automatic wire winding and unwinding roller is installed on the unmanned tracked vehicle through a bracket and can rotate on the bracket; the rotating motor is installed on the bracket and is coaxially connected to the automatic wire winding and unwinding roller, and is used to drive the automatic wire winding and unwinding roller to rotate; the data transmission antenna is wound around the automatic wire winding and unwinding roller, and one end of the data transmission antenna is connected to the electrical method main machine. When the automatic wire winding and unwinding roller rotates forward, the data transmission antenna can be extended from the automatic wire winding and unwinding roller and laid at the required position. When the automatic wire winding and unwinding roller rotates backward, the data transmission antenna can be recovered from the laying position to the automatic wire winding and unwinding roller; As Figure 3As shown in the figure, a plurality of conductive regions are provided on the large data transmission line. Each conductive region is coupled to each electrode layout point during layout, and is used for electrical method detection and feedback to the electrical method main machine. It also includes a retractable mechanism for the reference measurement point connection line. This mechanism is the same as the automatic retractable line mechanism, except that the large data transmission line is replaced by a connection line, and the electrical method main machine is connected to the reference measurement point through the connection line.

[0032] 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 the potential data detected by the electrical method main machine.

[0033] The above-mentioned unmanned tracked vehicle, camera, robotic arm, storage tank, transfer pump, automatic retractable line roller, rotary motor, large data transmission line and electrical method main machine are all existing components or equipment, which can be obtained through market purchase. 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 travel and controls the robotic arm and manipulator according to the images captured by the camera, which are all realized by existing programs.

[0034] The working method of the above-mentioned device for electrical method detection of an underground unmanned tracked vehicle is as Figure 2 shown, and the specific steps are as follows:

[0035] Step 1: First spraying of conductive glue: Store the positions of the electrode layout points 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 area to be detected. Move the end of the robotic arm to the position of the electrode layout point, and start the conductive glue spraying mechanism. The transfer pump sprays the conductive glue on the surrounding rock or bottom plate at the electrode layout point through the nozzle. The conductive glue can partially penetrate into the interior through the cracks in the surrounding rock or bottom plate to form a conductive layer on the surface of the electrode layout point. Confirm the spraying situation through the camera until the coupling requirement is met to complete the first spraying process of the electrode layout point; the conductive glue is 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 when the required requirements are met.

[0036] Step 2: Connect the electrode layout points to the data transmission cable: The control center controls the movement of the robotic arm and starts the forward rotation of the rotary motor to release the data transmission cable wound around the automatic cable reel. The camera captures the real-time position during the cable layout process and feeds it back to the control center. After analysis, the control center controls the manipulator to adjust the position of the data transmission cable so that it passes through the first electrode layout point. Then, the manipulator makes one of the conductive areas of the data transmission cable come into close contact with the conductive layer formed at the first electrode layout point. After completion, start the conductive glue spraying mechanism. The delivery pump sprays the conductive glue through the nozzle at the contact position between the conductive area and the conductive layer to wrap the conductive area and form a detection electrode at the first electrode layout point, thus completing the secondary glue spraying process for the first electrode layout point.

[0037] Step 3: Layout each electrode layout point and the data transmission cable: Then, the unmanned tracked vehicle continues to move forward. During the movement, the automatic cable reel continuously releases the data transmission cable until it reaches the second electrode layout point, and repeats the processes of Step 1 and Step 2 to complete the glue spraying and cable layout work for the second electrode layout point. Repeat this process until the glue spraying and data transmission cable layout work for all electrode layout points are completed.

[0038] Step 4: Arrange the reference measurement points: When the data transmission cable layout for each electrode layout point is completed, set reference measurement points at a certain position away from each electrode layout point as reference electrodes. The unmanned tracked vehicle drives to the reference measurement point. First, perform the first glue spraying at the reference measurement point (i.e., in the manner of Step 1), and then control the retraction and release mechanism of the reference measurement point connection cable and the manipulator. Make one end of the connection cable come into contact with the reference measurement point and perform secondary glue spraying (i.e., in the manner of Step 2) to fix the connection cable at the reference measurement point with the conductive glue, finally forming an electrical resistivity tomography (ERT) observation system. By default, each electrode on the data transmission cable of this ERT observation system can be used as the A pole, B pole, and measurement electrode; start the ERT main machine to perform four-level parallel electrical resistivity tomography detection on the observation system formed by each electrode layout point and the reference measurement point, so as to obtain the electrical resistivity data of the required detection area; using four-level parallel electrical resistivity tomography detection does not require the arrangement of infinite far electrodes, only the arrangement of reference electrodes. And this method can collect data with high efficiency to save the battery power of the tracked vehicle.

[0039] Step 5: Recover the data transmission cable: When the electrical resistivity data collection work is completed, the control center starts the robotic arm and the manipulator to pull out the data transmission cable at each electrode layout point and the connection cable at the reference measurement point from the conductive glue in sequence, and controls the respective rotary motors of the automatic cable retraction and release mechanism and the reference measurement point connection cable retraction and release mechanism to rotate in the reverse direction to recover the data transmission cable and the connection cable respectively, thus completing the detection work in this area.

[0040] Experimental verification:

[0041] In order to verify that the liquid electrode formed by spraying conductive glue on the rock mass surface in the present invention can replace the ordinary copper rod electrode and the plug-and-play clip layout method for electrical prospecting, the following experiments are carried out:

[0042] A pit of 40*30*50 cm is dug on the surface of the selected mountain area, a hollow plastic box (high-resistance anomaly body) is placed and buried, and the topsoil is compacted. The experiment is designed with 16 electrodes, the electrode spacing is 0.2 m, and the total length is 3 m. Then, ordinary copper rod electrodes (traditional electrical prospecting electrodes) are arranged at each detection point first for electrical prospecting of the anomaly body. Then, conductive glue is sprayed at the same detection points, and after coupling with the rock mass, a liquid electrode is formed to conduct electrical prospecting of the same anomaly body again, and the electrical prospecting methods used in the two detections are the same.

[0043] The final experimental results are as Figure 4 and 5 shown. It can be seen from the imaging diagram that the positions of the anomaly bodies determined by the two electrode electrical prospecting methods are basically similar, and the positions of the preset anomaly bodies can be obtained with high precision. Therefore, it shows that the liquid electrode formed by coupling the conductive glue with the rock mass can achieve the accuracy of collecting data by the ordinary copper rod electrode, thus providing data support for the realization of the present invention.

[0044] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope 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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