Automatic continuous electrode arrangement device and method for high-density electrical method

Abstract

This invention discloses an automated continuous deployment device and method for high-density electrical resistivity tomography (EPT) electrodes. The device includes a vehicle body and mounted environmental perception, navigation and positioning, automatic movement, electrode feeding and clamping, impact drive and resistance sensing, and a total control system. This invention achieves autonomous obstacle avoidance and target point suitability assessment in complex terrain through the coordinated operation of the perception and navigation systems. During the deployment phase, the impact drive and resistance sensing system acquires the average penetration energy and instantaneous impact stiffness during electrode penetration in real time, and performs dual-parameter physical calculations based on the cumulative penetration depth. The system then determines the ground resistance state, enabling adaptive closed-loop deployment and retrieval of electrodes under various conditions, including normal low-energy operation, hard soil pressure enhancement, and obstacle avoidance. This invention effectively replaces manual labor, improving the automation level and operational efficiency of electrode deployment.

Description

Technical Field

[0001] This invention relates to an automatic continuous deployment device and method for high-density electrical resistivity tomography electrodes, belonging to the technical field of high-density electrical resistivity tomography exploration. Background Technology

[0002] High-density electrical resistivity tomography (EDT) is an indispensable geophysical method in resource exploration, engineering geology, and environmental surveys. Its data quality and interpretation accuracy are highly dependent on the geometric precision and efficiency of the electrode placement. However, currently, this process is almost entirely manual, which has significant drawbacks: First, the operation is extremely inefficient. Operators have to carry heavy cables and manually insert dozens to hundreds of electrodes one by one into the ground. This is extremely labor-intensive and time-consuming, and has become the biggest bottleneck restricting the improvement of exploration efficiency.

[0003] Secondly, the accuracy of the deployment is difficult to guarantee. Manual positioning with a measuring tape is easily affected by terrain undulations and subjective factors, leading to errors in the electrode spacing. These errors directly distort the collected resistivity data, seriously affecting the accuracy of subsequent interpretation.

[0004] Furthermore, it struggles to cope with complex environments. In areas with dense vegetation, piles of rocks, or steep slopes, manual deployment becomes even more difficult, or even impossible, limiting the scope of application of this method.

[0005] Despite the increasing maturity of industrial automation technology, due to the special requirements of electrical electrodes, such as the need for connecting cables, deployment in unstructured outdoor terrain, and the need for plug-in / plug-out functionality, general-purpose automation equipment or robots are difficult to apply directly. Currently, there is a lack of dedicated automation equipment on the market that can effectively solve the above problems.

[0006] Therefore, there is an urgent need to develop an automatic electrode deployment and retrieval device that can replace manual labor and is suitable for complex terrain in the field, so as to achieve high-precision, high-efficiency, and low-labor-intensity automated operation and fundamentally improve the technical level of high-density electrical resistivity tomography. Summary of the Invention

[0007] To address the aforementioned problems, this invention discloses an automatic continuous deployment device and method for high-density electrical resistivity electrodes, the specific technical solution of which is as follows: An automatic continuous deployment device for high-density electrical resistivity electrodes includes: Vehicle platform; An environmental perception system installed on the vehicle platform is used to acquire terrain and obstacle information in the working environment. The navigation and positioning system is used to determine the vehicle's position on the survey line and generate a travel path; An automatic movement system is used to drive the vehicle along the survey line to the target deployment point; An electrode feeding and clamping system is used to store and deliver electrodes one by one to the deployment location; Impact-driven and resistance-sensing system, used to drive electrodes to penetrate underground and monitor the status of the penetration process; And the overall control system; The impact drive and resistance sensing system includes: Power monitoring unit, force sensing unit, and displacement monitoring unit, It is used to collect driving energy parameters, impact force signals and electrode penetration depth during electrode penetration, and to calculate the average penetration specific energy and instantaneous impact stiffness during electrode penetration based on the parameters. The overall control system is used to integrate environmental and location information obtained by the environmental perception system and the navigation and positioning system, and to receive the average penetration energy and instantaneous impact stiffness parameters output by the impact drive and resistance perception system. Based on the parameters, the system determines the formation resistance state and sends control commands to the automatic travel system, the electrode feeding and clamping system, and the impact drive system to achieve adaptive deployment of electrodes under different formation conditions.

[0008] Furthermore, the automated travel system includes a tracked walking mechanism, a suspension and buffer mechanism, and an automatic leveling support system. 1) Tracked walking mechanism: including rubber or metal tracks located on both sides of the vehicle body, drive wheels connected to the drive motor, driven wheels that serve as guides and tensioners, and support rollers that support the weight of the vehicle, together forming the track assembly; 2) The suspension and buffer mechanism are connected between the track assembly and the upper frame of the vehicle body; 3) Automatic leveling support system: Used to provide a stable platform for the device during electrode insertion and removal operations, including: i) Telescopic outriggers - including at least four telescopic outriggers respectively arranged at the four corners of the vehicle body, each telescopic outrigger being independently controlled and operated, and the telescopic outriggers being selected from electric push rods or hydraulic cylinders. ii) Support feet - installed at the bottom of each telescopic outrigger for contact with the ground. iii) Horizontal monitoring unit - integrated into the vehicle body, used for real-time monitoring of the vehicle's horizontal attitude, using a tilt sensor. iv) Locking mechanism - When the telescopic outriggers are extended and leveled, the locking mechanism will rigidly lock the telescopic outriggers.

[0009] Furthermore, the feeding and clamping system implements "matrix storage + bidirectional automatic recursion + fixed-station clamping", including: 1) Modular electrode supply unit: It includes a modular electrode compartment located on the top of the vehicle body, with several rows of electrode racks on the electrode compartment. A push mechanism is installed below the racks, which is driven by a stepper motor to move the electrodes to a fixed pick-up position. The fixed pick-up position of each row of electrode racks is located at the front end of the rack, with a photoelectric sensor on the side to confirm that the electrode has been delivered to the fixed pick-up position. Each row of electrode racks has regularly arranged and equally spaced receiving slots, with one electrode placed in each slot. There are gaps between adjacent electrodes, and the connecting cables on the upper part of the electrodes naturally drag outside the receiving slots. 2) Execution Unit: The robot uses a six-degree-of-freedom articulated robotic arm as the execution body, including base rotation, upper arm pitch, lower arm pitch, wrist rotation, wrist pitch and end effector rotation, covering the entire process of "picking-carrying-inserting-removing-placing". Each joint is driven by a servo motor, and the end effector rotation integrates a torque sensor to sense the resistance during insertion and removal. When picking up electrodes, the robotic arm is positioned at each fixed picking position. 3) End effector: The end effector is mounted on the rotating gripper at the end of the robotic arm, including: i) Adaptive clamping mechanism: It adopts a two-finger gripper structure, and its opening angle, opening degree and clamping force are controlled by a motor. The inner surface of the two-finger gripper is covered with a rubber / polyurethane anti-slip layer. ii) Force sensing module: The force sensing module is located at the base of the gripper and is used to monitor the clamping force in real time, forming a closed-loop control to ensure that the clamping force is always within a range that can prevent slippage without damaging the electrodes.

[0010] Furthermore, the navigation and positioning system is used to acquire and calculate the device's pose information in real time, including: GNSS module: Supports real-time dynamic differential RTK working mode, can receive signals from Beidou and GPS satellite navigation systems, and calculates the absolute geographic coordinates of the device in real time. Inertial measurement unit (IMU): Built-in three-axis gyroscope and three-axis accelerometer, used to monitor the three-dimensional angular velocity and linear acceleration of the device in real time, and then calculate its attitude angle and motion state, and serve as a supplement to GNSS positioning when the GNSS signal is weak.

[0011] Furthermore, the environmental perception system includes: 1) Obstacle avoidance sensor module The obstacle avoidance sensing module includes a lidar and an ultrasonic sensor; the lidar is used to acquire the surrounding 3D point cloud and identify the geometric size, precise position and height of obstacles in front; the ultrasonic sensor is used to fill blind spots at close range and detect low or transparent obstacles. 2) Visual perception module The visual perception module includes a camera device and an image processing and recognition unit; the camera device includes a forward-facing camera and a downward-facing camera. The forward-facing camera collects real-time images of the road surface and surrounding environment, while the downward-facing camera focuses on capturing images of the ground surface to identify the ground conditions in the work area; the image processing and recognition unit is used to analyze the images collected by the camera device. 3) Data fusion and discrimination unit The data fusion and discrimination unit is used to receive and comprehensively process multi-source heterogeneous data from the obstacle avoidance sensing module and the visual perception module to achieve "obstacle attribute calculation and accessibility classification" and "target point operation suitability comprehensive judgment".

[0012] Furthermore, the methods for "obstacle attribute calculation and accessibility classification" and "target point operation suitability comprehensive judgment" are as follows: An quantifiable classification of obstacles is achieved using a progressive analysis process of "geometric initial screening → material verification → terrain adaptation". Geometric clearance determination: based on preset physical limit parameters of the device, i.e., maximum obstacle clearance height. and maximum safe climbing angle Obstacle height extracted from lidar point clouds With slope Perform a comparison, if and If the obstacle is geometrically passable, it is marked as "geometrically impassable"; otherwise, it is marked as "geometrically impassable". Material property filtering: For obstacles marked as "geometrically impassable" but suspected to be vegetation, "laser point cloud penetration feature analysis" is initiated. To quantify the laser's penetration characteristics through obstacles, the processor constructs a cylindrical or cuboid 3D detection window pointing towards the center of the obstacle and calculates the "depth discretization index" of the point cloud within the window along the laser beam direction. Let the set of point clouds within the window be... The distance from each point to the lidar optical center is Then the depth of dispersion index The calculation formula is: in This is the average distance of all points within the window; if the obstacle is a rigid object such as rock or earth, the laser cannot penetrate it, and the echo point cloud is mainly concentrated on the surface of the object facing the radar, forming a "sheet-like" distribution. The value is small, approaching 0. If the obstacle is a flexible object such as shrubs or grass, the laser beam can pass through the gaps between leaves and penetrate into the interior, even reaching the rear. The echo point cloud exhibits a "diffuse" distribution in the depth direction. The value is significantly higher than that of a rigid object; if the calculated value is... , If a preset discrete threshold is set and the auxiliary visual recognition result is "vegetation texture", then the obstacle is determined to be a flexible, traversable obstacle, and the automatic travel system is controlled to force passage in a low-speed, high-torque mode; otherwise, it is determined to be a rigid obstacle, and obstacle avoidance and detour are performed. Negative terrain crossing determination: For negative terrain such as gullies, the determination is based on the track contact length. To determine its traversability, the width of the ditch... If the ditch is crossed, it is determined to be "crossable"; otherwise, it is marked as an impassable area, and local path replanning is triggered to detour. Based on the combined results of visual recognition of ground material and micro-obstacles from the downward-facing camera, and the precise coordinates of the current location, a pre-defined rule base is used to make a decision: If the soil is identified as "soil" or "sand" and there are no labels for "waterlogging" or "dense root system", it is determined to be "suitable for planting". If the area is identified as "bedrock", "concrete", or has labels such as "large gravel" or "water accumulation area", it will be determined as "unsuitable for deployment"; the determination result, along with detailed reasons, will be sent to the central control system.

[0013] Furthermore, the impact drive and resistance sensing system enables the electrode to be inserted into the predetermined monitoring ground. The impact mechanism, under the action of the impact motor, pushes the lower end of the electrode into the ground. Real-time monitoring is carried out using a "multi-source hardware sensing - dual-parameter physical calculation - hierarchical collaborative control" mode. The specific process is as follows: 1) Multi-source hardware sensing: Electricity-force-displacement three-dimensional collaborative sensing unit The three-dimensional collaborative sensing unit of electric force and displacement is responsible for acquiring macroscopic energy consumption and microscopic mechanical data in real time and synchronously during the electrode impact insertion process, providing an accurate data source for resistance calculation. It includes three core sensing modules: i) Drive power monitoring module: A high-precision Hall voltage / current sensor is integrated into the power supply circuit of the impact motor to synchronously collect the motor's operating voltage in real time at a millisecond sampling rate. and operating current This is used for subsequent assessment of the total electrical load consumed by the impact mechanism in overcoming soil friction; ii) Dynamic force sensing module: Captures the peak value of the maximum reaction force generated at the moment the impact mechanism strikes the electrode each time through a force sensor; iii) High-frequency displacement monitoring module: The absolute depth of the electrode is recorded in real time by a displacement sensor. The displacement data is processed by time differentiation to obtain the average penetration rate within the time window. and the minute displacement response generated by a single impact ; 2) Dual-parameter physical calculation: Formation resistance calculation model Considering the physical difference between side friction and instantaneous end resistance in complex strata, the average penetration energy was constructed. With instantaneous impact stiffness The two-parameter solution model; i) Macroscopic average resistance is characterized by average penetration energy. Based on a sliding time window, the average effective current of the impact motor during this period is collected. With the average penetration rate of the electrode And combined with the electro-mechanical energy conversion efficiency coefficient ,calculate : This reflects the total energy consumed by the electrode per unit depth of penetration; when the electrode enters a clay layer or deep soil with uniformly increasing density, the side friction increases, and the penetration rate... Decreasing the system's overall energy consumption increases the system's total energy consumption. It shows a smooth upward trend; ii) Microscopic local resistance is characterized using instantaneous impact stiffness. Simultaneously extract the set of peak values ​​of single impact reaction forces fed back by the force sensor within the time window, and calculate its average peak value. Combined with the tiny displacement of a single impact calculate :

[0014] This reflects the local mechanical properties of the electrode tip contact surface; if the electrode tip suddenly strikes a gravel or other hard object, even... There has not been a drastic change yet. Also because The surge resulted in a leap in orders of magnitude; 3) Hierarchical Cooperative Control: Adaptive Control Strategy Based on Two Parameters Construct including target depth Mean penetration energy With instantaneous impact stiffness The multidimensional decision tree, by setting conditional branches with different priorities, issues closed-loop control commands: i) Priority 1: Normal completion and shutdown The displacement of a single sinking event is accumulated in real time using a displacement sensor. Get the current cumulative penetration depth ; In any operating state, once detected If the electrode placement is deemed to be up to standard, the main control system will immediately trigger the highest priority interruption to cut off the impact power. The robotic arm gripper mechanism will automatically release and reset, and enter the next work cycle. ii) Priority 2: Emergency Stop and Obstacle Avoidance when If instantaneous impact stiffness is detected A millisecond-level step jump occurs and exceeds the limit threshold, regardless of the macroscopic energy consumption at this time. If there is an anomaly, it is determined that an impenetrable boulder or bedrock has been encountered; to prevent equipment overload or electrode damage, the system immediately cuts off the impact power supply, triggers the obstacle avoidance protection mechanism, and the robotic arm pulls out the electrode and performs offset repositioning. iii) Priority 3: Boost Mode when and Under normal circumstances, if the calculated average penetration energy If the electrode deviates significantly from the initial reference and continues to rise, the system determines that it has entered a homogeneous hard soil layer. It then automatically increases the motor's operating voltage and instructs the robotic arm to apply auxiliary downward pressure to ensure the penetration rate. Stability; iv) Priority 4: Normal Low-Power Mode when ,and and When all values ​​are within the preset low-level stable range, the current soil layer is determined to be soft and homogeneous, and the standard low-frequency impact action is maintained.

[0015] The method for automatically and continuously deploying the high-density electrical resistivity electrodes described above includes the following steps: Step 1) Task initialization and autonomous movement The coordinates of the target point and the electrode spacing are input into the navigation and positioning system. The navigation and positioning system plans the optimal travel path, the automatic travel system is activated, and the vehicle moves towards the target point of the survey line according to the optimal travel path. Step 2) Precise positioning and environmental prediction During the movement, the environmental perception system monitors multi-source heterogeneous data in the working environment in real time. The "obstacle attribute calculation and passability classification judgment" determines whether the optimal travel path planned by the navigation and positioning system is passable during the movement. If an impassable path is encountered, the automatic travel system stops moving forward and feeds back to the central control system. The central control system informs the navigation and positioning system that the optimal travel path is impassable. The navigation and positioning system then replans the travel path, and the automatic travel system proceeds according to the replanned path. Step 3) Repeat step 2) until the vehicle reaches the first point of the target line; Step 4) The downward-facing camera of the environmental perception system takes pictures of the ground surface at the point, identifies the soil quality, and performs a "comprehensive judgment on the suitability of the target point operation" to determine whether it is "suitable for deployment". If so, the telescopic outriggers of the automatic leveling support system extend to support the vehicle body stably and then lock the mechanism. If not, the target point of the survey line is replanned. Step 5) Repeat steps 1)-4) until the first point of the survey line target that is "suitable for deployment" is found; Step 6) Automatic electrode supply and clamping. The electrode feeding and clamping system receives the workable command, the push mechanism receives the command and pushes the No. 1 receiving slot of the first row of the discharge rack to the fixed material picking position. The gripper mechanism of the robotic arm moves to the fixed material picking position. The photoelectric sensor confirms that the robotic arm and the fixed material picking position are in place. The gripper mechanism takes the electrode from the fixed material picking position with a constant safety clamping force and moves it to the first point of the target point of the measurement line. Step 7) Impact Deployment and Adaptive Monitoring of Resistance The robotic arm delivers the electrode and aligns it vertically with the target point on the ground. The impact drive and resistance sensing system are activated, and the electro-force-displacement three-dimensional collaborative sensing unit simultaneously starts high-frequency sampling to calculate the current cumulative penetration depth of the electrode in real time. Mean penetration energy With instantaneous impact stiffness And execute the following adaptive control strategy based on two parameters: Normal low-consumption and boost mode: When And detected When the solution is in the stable interval, if the solution is... If the soil is within the preset low-level stable range, and the current soil layer is determined to be soft and homogeneous, maintain the standard low-frequency impact action; if the calculated... If the electrode deviates significantly from the initial reference and continues to rise, it is determined that the electrode has entered a homogeneous hard soil layer. The motor working voltage is automatically increased and the robotic arm is instructed to apply auxiliary downward pressure. Obstacle avoidance and emergency stop modes: When If detected If a millisecond-level step occurs and exceeds the limit threshold, it is determined that an impenetrable hard object such as gravel has been encountered. The impact power supply is immediately cut off, the obstacle avoidance protection mechanism is triggered, the robotic arm pulls out the electrode and performs offset repositioning. Normal completion shutdown mode: When the cumulative penetration depth fed back by the displacement sensor... When the deployment of the point is deemed to meet the standard, the highest priority interrupt is immediately triggered to cut off the impact power, the end gripper mechanism of the robotic arm releases and resets, and the deployment action of the point is completed. Step 8) Execute step 5) to find the next target point for the survey line; Step 9) Execute steps 6) and 7) to complete the electrode placement at the target points of the survey line; Step 10) Repeat steps 8) and 9) until the electrode placement at all target points of the survey line is completed; Step 11) After completing the test, return along the original route and pass through each test line target point one by one. Pull out the electrodes on each test line target point and retrieve them into the modular electrode compartment by the robotic arm.

[0016] Furthermore, the specific process of step 7) offset relocation is as follows: Using the current target point as the center, move outward by 5-10 cm to insert the electrode. If the first point is offset and the electrode is still found to be an impenetrable boulder or bedrock after insertion, rotate 90° around the center and insert again. If it can be inserted, insert the electrode into this point. If it is still found to be an impenetrable boulder or bedrock, rotate 90° around the center again and insert again until an insertion point is found. If the operation is performed 4 times and it is still found to be an impenetrable boulder or bedrock, abandon the target point and continue to step 8.

[0017] Furthermore, in step 7), the initial stage of the operation has a working depth of 0-5cm, and the middle stage of the operation has a working depth of 5-10cm.

[0018] The beneficial effects of this invention are: This invention integrates multiple functional system units that work together to complete complex tasks such as walking, obstacle monitoring during walking, and real-time detection and adjustment of the target location to determine if it is a suitable placement point, thus truly achieving intelligent operation. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 2 This is a flowchart of the present invention. List of reference numerals in the attached diagram: 1—Automatic travel system, 2—Electrode compartment, 3—GNSS module, 4—Electrode, 5—Impact mechanism, 6—Impact drive and resistance sensing system, 7—Forward-facing camera, 8—LiDAR, 9—Ultrasonic sensor, 10—Telescopic outrigger, 11—Supporting foot pad, 12—Robotic arm. Detailed Implementation

[0020] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0021] Combined with appendix Figure 1As can be seen, the marked parts in the figure are named as follows: 1. Automatic travel system; 2. Electrode compartment; 3. GNSS module; 4. Electrode; 5. Impact mechanism; 6. Impact drive and resistance sensing system; 7. Forward camera; 8. LiDAR; 9. Ultrasonic sensor; 10. Telescopic outrigger; 11. Support foot pad; 12. Robotic arm.

[0022] The present invention integrates five major functional systems on the vehicle body: an automatic driving system, a navigation and positioning system, an environmental perception system, an electrode feeding and clamping system, and an impact driving and resistance sensing system. All of these systems are uniformly scheduled and coordinated by the overall control system.

[0023] The device's perception layer comprises an environmental perception system and a navigation and positioning system. The environmental perception system collects real-time images of terrain, obstacles, and the ground surface, while the navigation and positioning system provides centimeter-level pose data and global path planning results, jointly providing environmental and locational basis for decision-making. The execution layer consists of an automatic movement system, an electrode feeding and clamping system, and an intelligent impact drive system, responsible for the device's autonomous movement, automatic electrode placement and positioning, and intelligent electrode impact insertion and resistance adaptive feedback, respectively. The real-time status of each execution system (such as travel distance, clamping force, impact current and reaction force, and sinking displacement) is synchronously transmitted back to the central control system. The central control system, acting as the decision-making layer, integrates multi-source perception information and issues precise control commands to the lower-level execution systems, forming a closed-loop operation process of "perception-decision-execution-feedback," thereby achieving full automation from automatic loading, precise positioning, controllable insertion and removal, intelligent obstacle detection response to electrode cleaning.

[0024] The composition and function of each system are described in detail below: 1. Automatic travel system: It consists of three parts working together: a tracked walking mechanism, a suspension and buffer mechanism, and an automatic leveling support system.

[0025] 1) Tracked walking mechanism: Serving as the foundation of the system, it provides the equipment with mobility and off-road capabilities. Includes: i) The track assembly consists of rubber or metal tracks located on both sides of the vehicle body, a drive wheel connected to the drive motor, a driven wheel that provides guidance and tension, and a support roller assembly that supports the vehicle's weight. The track assembly is used to increase the ground contact area and reduce the ground pressure, thereby ensuring the device's mobility on soft and rugged terrain.

[0026] ii) Independent drive unit: Contains two hydraulic motors or high-torque servo motors for driving the left and right tracks respectively. By controlling the speed difference and direction of the motors on both sides, the device can move forward, backward, perform differential steering, and turn in place.

[0027] 2) Suspension and buffer mechanism: Connected between the track assembly and the upper frame, it ensures stability during movement. Its function is as follows: i) It buffers and absorbs the impacts and vibrations transmitted to the vehicle body due to uneven ground, protecting its delicate layout mechanisms and measuring electronic equipment from damage.

[0028] ii) By maintaining contact between the tracks and the ground, the device's traction and driving stability are maintained.

[0029] 3) Automatic leveling support system: Used to provide an absolutely stable platform for the device during electrode insertion and removal operations, including: i) Multiple telescopic outriggers - Four or more telescopic outriggers arranged at the four corners of the vehicle body. The telescopic outriggers are made of electric push rods or hydraulic cylinders, and each telescopic outrigger can be independently controlled to extend and retract.

[0030] ii) Support pads - pads with a large ground contact area installed at the bottom of each telescopic outrigger to prevent the telescopic outrigger from sinking in soft soil.

[0031] iii) Horizontal monitoring unit - Employs tilt sensors integrated into the vehicle body to monitor the vehicle's horizontal attitude in real time.

[0032] iv) Locking mechanism - When the telescopic outriggers are extended and leveled, the locking mechanism (either a mechanical lock or a hydraulic lock) rigidly locks them to ensure that the vehicle body will not shake or lift under the huge reaction force of electrode insertion and removal.

[0033] 2. Navigation and Positioning System It includes a positioning unit for real-time positioning of the device.

[0034] 1) Positioning Unit: Used to acquire and calculate the device's centimeter-level accuracy pose information in real time, and is the foundation for the system to achieve high-precision navigation. It includes: i) GNSS module: Supports RTK (Real-time Dynamic Differential) working mode, can receive signals from satellite navigation systems such as Beidou and GPS, and calculates the absolute geographic coordinates of the device in real time, with a positioning accuracy of up to centimeter level.

[0035] ii) Inertial Measurement Unit (IMU): It has a built-in three-axis gyroscope and three-axis accelerometer to monitor the three-dimensional angular velocity and linear acceleration of the device in real time, and then calculate its attitude angle (pitch, roll, heading) and motion state. It serves as a supplement to GNSS positioning when the GNSS signal is weak.

[0036] To work in conjunction with the environmental perception system, a path planning and decision-making unit and a navigation control interface are also configured to enable dynamic obstacle avoidance.

[0037] 2) Path Planning and Decision-Making Unit: Responsible for directing the operation and movement strategies of the control unit, including: i) Target point storage module: Used to pre-store or receive the electrode deployment task sequence issued by the host computer, that is, the set of precise coordinates of all target points.

[0038] ii) Global Path Planning Module: Based on the current fusion positioning results and target point sequence, automatically plan the optimal global movement path to each target point.

[0039] iii) Local obstacle avoidance and replanning module: This module interacts with the device's environmental perception system to receive real-time information about obstacles ahead. When an obstacle is detected, this module can dynamically adjust the global path, calculate a new local path that can be safely bypassed online, and automatically guide the device back to the original survey line after bypassing the obstacle. This enables the device to perform fully automatic and intelligent operations in complex environments.

[0040] 3) Navigation control interface: This interface interacts with other execution subsystems by providing commands. i) Convert the path point sequence generated by the path planning unit into specific driving control commands (such as target speed and steering angle) and send them to the automatic driving system for execution.

[0041] ii) Receive feedback information from the environmental perception system (such as job suitability and obstacle attributes) to provide decision-making basis for the path planning unit, thereby realizing closed-loop control of "perception-decision-execution".

[0042] 3. Environmental Sensing System The environmental perception system is the device's "intelligent sensor," its core function being to perceive multidimensional information in the unstructured field environment in real time and provide data support for the navigation and decision-making system. Its specific components include: 1) Obstacle avoidance sensor module This includes i) LiDAR, used to acquire surrounding 3D point clouds and identify the geometric dimensions, precise location, and height of obstacles in front; and ii) ultrasonic sensors, used for close-range blind spot filling and detection of low or transparent obstacles (such as glass bottles).

[0043] 2) Visual perception module It consists of a camera unit and an image processing and recognition unit. The camera unit includes a forward-facing camera and a downward-facing camera. The forward-facing camera, similar to a dashcam, captures real-time images of the road surface and surrounding environment. The downward-facing camera focuses on capturing the ground surface and identifying the ground conditions in the work area. The image processing unit's built-in algorithm is used to analyze the images captured by the downward-facing camera.

[0044] 3) Data fusion and discrimination unit The data fusion and discrimination unit is the "brain" of the environmental perception system, receiving and comprehensively processing multi-source heterogeneous data from lidar, vision, and ultrasonic sensors. Its core tasks are to perform "obstacle attribute calculation and accessibility classification" and "comprehensive judgment of target point operational suitability," the specific methods of which are as follows: A. Method for classifying and determining the passability of obstacles The data fusion and discrimination unit uses a progressive analysis process of "geometric initial screening → material verification → terrain adaptation" to quantify and classify obstacles. Geometric clearance determination (rigid constraints): based on preset physical limit parameters of the device – maximum obstacle clearance height. and maximum safe climbing angle Obstacle height extracted from lidar point clouds With slope Perform a comparison. If... and If it is, then it is marked as "geometrically passable".

[0045] Material property filtering (flexible rejection): For obstacles marked as "geometrically impassable" but suspected to be vegetation, "laser point cloud penetration feature analysis" is initiated. To quantify the laser's penetration characteristics through obstacles, the processor constructs a cylindrical or cuboid 3D detection window pointing towards the center of the obstacle, and calculates the "depth discretization index" of the point cloud within the window along the laser beam direction. Let the set of point clouds within the window be... The distance from each point to the lidar optical center is Then the depth of dispersion index The calculation formula is: in This represents the average distance to all points within the window. If the obstacle is a rigid object such as a rock or mound of earth, the laser cannot penetrate it, and the echo point cloud will mainly concentrate on the surface of the object facing the radar, forming a "sheet-like" distribution. The value is extremely small, approaching 0. If the obstacle is a flexible object such as a shrub or grass, the laser beam can pass through the gaps between leaves and penetrate into the interior or even reach the rear. The echo point cloud exhibits a "diffuse" distribution in the depth direction. The value is significantly higher than that of rigid objects. If the calculated value is... ( If a preset discrete threshold (e.g., 5cm) is set and the auxiliary visual recognition result is "vegetation texture", the system will comprehensively determine that the obstacle is a flexible, traversable obstacle and control the travel system to force passage in a low-speed, high-torque mode; otherwise, it will determine that it is a rigid obstacle and perform obstacle avoidance and detour.

[0046] Negative terrain crossing determination: For negative terrain such as gullies, the determination is based on the track ground contact length. Determine its traversability. If the width of the ravine... If the path is cleared, it is considered "crossable"; otherwise, the system marks it as an impassable area and triggers local path replanning to detour.

[0047] The data fusion and discrimination unit integrates the visual recognition results (surface material and micro-obstacles) from the downward-facing camera with the precise coordinates of the current location, and runs a pre-set rule base to make decisions: If the soil is identified as "soil" or "sand" and does not have labels such as "waterlogged" or "dense root system", it is determined to be "suitable for deployment".

[0048] If the area is identified as "bedrock", "concrete", or has labels such as "large gravel" or "waterlogged area", it is determined to be "unsuitable for deployment".

[0049] The determination result, along with the detailed reason code, will be sent to the central control system.

[0050] The above three units work together to achieve the following functions: 1) Security Assurance and Feasible Path Planning This function serves the navigation and positioning system. The data fusion and discrimination unit sends obstacle information (such as "bush that can be crossed at low speed", "rocks that need to be avoided", and "shallow ditches that can be crossed") to the path planning unit in real time after classification. The path planning unit then dynamically adjusts the global path accordingly, or triggers immediate obstacle avoidance actions in emergency situations, to achieve intelligent and safe travel.

[0051] 2) Suitability assessment and adaptive deployment of work sites This function directly serves the electrode deployment operation. The "suitable for deployment" or "unsuitable for deployment" judgment output by the data fusion and discrimination unit is the ultimate basis for the overall control system to decide whether to perform the insertion / removal action at the current point. If the judgment is "unsuitable for deployment," the system will automatically skip the point, record the abnormal geographical coordinates and reasons, and trigger the deployment point offset reselection process (for example, finding the next suitable point within a preset radius), thereby ensuring the reliability of data acquisition and the safety of the electrodes.

[0052] 4. Feeding and clamping system The feeding and clamping system adopts a "matrix storage + bidirectional automatic push + fixed station clamping" scheme. It is the core execution unit for realizing automatic electrode picking and placing, reliable clamping and precise transfer. Its composition and functions are as follows: 1) Modular electrode supply unit: The system includes a modular electrode compartment mounted on the vehicle body, above which are several rows of electrode racks. A stepper motor-driven pusher mechanism retracts and places the electrodes to fixed pick-up positions. The fixed pick-up positions for each row of electrode racks are located at the front end of the rack, with photoelectric sensors on the side to confirm that the electrodes have been delivered to the designated pick-up positions. Each row of electrode racks has regularly arranged, equally spaced receiving slots (e.g., 8-10 slots). The dimensions of each receiving slot are precisely designed to fit a 1-2mm gap with the electrode diameter, ensuring accurate fixing of individual electrodes while facilitating gripping by the grippers. The connecting cables above the electrodes naturally extend beyond the receiving slots, physically preventing cables from tangling.

[0053] 2) High-degree-of-freedom execution unit: The system employs a six-degree-of-freedom articulated robotic arm as its actuator, encompassing base rotation, upper arm pitch, forearm pitch, wrist rotation, wrist pitch, and end effector rotation, covering the entire process of "picking-carrying-inserting-removing-placing". Each joint is driven by a servo motor, and the end effector rotation integrates a torque sensor to detect resistance during insertion and removal.

[0054] 3) Intelligent sensing end effector The intelligent sensing end effector, installed at the end of the robotic arm, is crucial for its precise operations and includes: i) Adaptive clamping mechanism: Employs a two-finger gripper structure with a rubber / polyurethane anti-slip layer on the inner surface to increase friction. This mechanism is motor-driven, and its opening and closing angles and clamping forces can be precisely programmed and controlled.

[0055] ii) Force sensing module: A force sensor installed at the base of the gripper is used to monitor the clamping force in real time, form a closed-loop control, and ensure that the clamping force is always in the optimal range that can prevent slippage without damaging the electrodes.

[0056] 4) System collaboration and intelligent decision-making functions i) The control system commands the push mechanism to send the target electrode to the fixed picking position; at the same time, the robotic arm moves to the fixed picking position, and the photoelectric sensor confirms that it has completed docking with the target electrode, and the gripper performs a precise grasping action in preparation.

[0057] ii) During electrode insertion and removal, the force sensing module collects data on insertion and removal forces in real time and feeds it back to the main control system to determine the hardness of the formation and whether an obstacle is encountered. Based on this, it can trigger strategies such as overload protection or auxiliary vibration.

[0058] 5. Impact Drive and Resistance Sensing System The impact-driven and resistance sensing system is the core execution and decision-making unit for achieving controllable electrode insertion into the soil. Compared to traditional single resistance threshold judgment, the system adopts an architecture of "multi-source hardware sensing - dual-parameter physical calculation - hierarchical collaborative control". Its specific components and functions are as follows: 1) Three-dimensional collaborative sensing unit of electric force and displacement The three-dimensional electro-mechanical-displacement collaborative sensing unit is responsible for acquiring macroscopic energy consumption and microscopic mechanical data in real time and synchronously during the impact insertion process, providing an accurate data source for resistance calculation. It comprises three core sensing modules: i) Drive power monitoring module: A high-precision Hall voltage / current sensor is integrated into the power supply circuit of the impact motor. It synchronously acquires the motor's operating voltage in real time with a millisecond-level sampling rate. and operating current This is used to subsequently assess the total electrical load consumed by the impact mechanism in overcoming soil friction.

[0059] ii) High-frequency dynamic force sensing module: A piezoelectric or strain gauge dynamic force sensor is installed in series along the force transmission path between the end effector and the electrode of the robotic arm. Since the impact force is a transient pulse signal, the sensor uses an extremely high sampling frequency (such as above 1000Hz) to accurately capture the peak value of the maximum reaction force (end resistance) generated at the moment the impact hammer strikes the electrode.

[0060] iii) High-frequency displacement monitoring module: A high-resolution linear displacement sensor is configured on the impact guide rail or the lifting axis of the robotic arm to record the absolute depth of the electrode in real time. The control system performs time differentiation processing on the displacement data to synchronously obtain the average penetration rate within the time window. and the minute displacement response generated by a single impact .

[0061] 2) Formation resistance calculation model Considering the physical difference between side friction and instantaneous end resistance in complex strata, the average penetration energy was constructed. With instantaneous impact stiffness The two-parameter solution model.

[0062] i) Macroscopic average resistance is characterized by average penetration energy. The processor collects the average effective current of the impact motor during a sliding time window. With the average penetration rate of the electrode And combined with the electro-mechanical energy conversion efficiency coefficient ,calculate :

[0063] This reflects the total energy consumed per unit depth of electrode penetration. When the electrode enters a clay layer or deep soil with uniformly increasing density, the side friction increases, and the penetration rate... Decreasing the system's overall energy consumption increases the system's total energy consumption. It shows a smooth upward trend.

[0064] ii) Microscopic local resistance is characterized using instantaneous impact stiffness.

[0065] Simultaneously extract the set of peak values ​​of single impact reaction forces fed back by the force sensor within this time window, and calculate its average peak value. Combined with the tiny displacement of a single impact calculate :

[0066] This reflects the local mechanical properties of the electrode tip contact surface. If the electrode tip suddenly strikes a gravel or other hard object, even... There has not been a drastic change yet. Also because The surge resulted in a leap in magnitude.

[0067] 3) Adaptive control strategy based on dual parameters Constructed including target depth Mean penetration energy With instantaneous impact stiffness The multidimensional decision tree, by setting conditional branches with different priorities, issues closed-loop control commands: i) Priority 1: Normal completion and shutdown The system uses a high-frequency displacement sensor to accumulate the single sinking displacement in real time. Get the current cumulative penetration depth In any operational state, once detected... (For example, if the design depth is 20cm), the system determines that the electrode placement meets the standard. The main control system immediately triggers the highest priority interrupt, cuts off the impact power, and the robotic arm gripper automatically releases and resets, entering the next work cycle.

[0068] ii) Priority 2: Emergency Stop and Obstacle Avoidance when If instantaneous impact stiffness is detected A millisecond-level step jump occurs and exceeds the limit threshold (regardless of the macroscopic energy consumption at this time). (Is there an anomaly?) The system determines that it has encountered an impenetrable boulder or bedrock. To prevent equipment overload or electrode damage, the system immediately cuts off the impact power, triggers the obstacle avoidance protection mechanism, and the robotic arm pulls out the electrode and performs offset repositioning.

[0069] iii) Priority 3: Boost Mode when and Under normal circumstances, if the calculated average penetration energy If the electrode deviates significantly from the initial reference and continues to rise, the system determines that it has entered a homogeneous, hard soil layer (such as dense old clay). The system automatically increases the motor's operating voltage and instructs the robotic arm to apply auxiliary downward pressure to ensure the penetration rate. Stability.

[0070] iv) Priority 4: Normal Low-Power Mode when ,and and When all values ​​are within the preset low-level stable range, the system determines that the current soil layer is soft and homogeneous, and maintains the standard low-frequency impact action.

[0071] Combined with appendix Figure 2 The following is a specific embodiment of the method of the present invention. Taking the layout of a certain electrical exploration line as an example, the spacing between the points is 1 meter, and a total of 60 electrodes need to be laid.

[0072] Step 1) Task initialization and autonomous movement The coordinates of the survey line endpoints and the electrode spacing (1 meter) are input into the control system. The navigation and positioning system (integrating RTK and IMU) plans the optimal travel path. The tracked chassis of the automatic travel system starts, carrying the entire device to move autonomously along the survey line. During the journey, the lidar of the environmental perception system scans the terrain ahead in real time, detects a dense thicket, determines it is passable, and the device slows down and smoothly passes through.

[0073] Step 2) Precise positioning and environmental prediction The device approaches the first target point. The navigation and positioning system guides it to precise location, with a coordinate error of less than 2 centimeters. Simultaneously, the downward-facing camera of the environmental perception system photographs the ground surface at the location. The image recognition algorithm confirms that the surface is soil with no large exposed rocks, determining it to be "suitable for deployment." The device stabilizes its vehicle body, and the four outriggers of the automatic leveling support system extend, firmly fixing the vehicle body to the ground and providing a stable platform for operation.

[0074] Step 3) Automatic electrode supply and clamping The electrode feeding and clamping system receives an operational command. Upon receiving the command, the pusher mechanism pushes the No. 1 receiving slot of the first row of the discharge rack to the fixed picking position. The robotic arm moves to the first picking position, and the photoelectric sensor confirms that the robotic arm and the No. 1 receiving slot are in place. The end effector adaptive gripper receives a clamping command and removes the electrode from the receiving slot with a constant safety clamping force.

[0075] Step 4) Impact deployment and resistance monitoring The robotic arm delivers the electrode and aligns it vertically with point 1. The impact drive system activates, and the crank-connecting rod mechanism drives the impact hammer. At this time, the electro-force-displacement three-dimensional collaborative sensing unit simultaneously starts high-frequency sampling: Initial stage (0-5cm): The system monitored the average penetration energy. If the ground level remains stable at a low level, it is determined that the surface is soft, and the "soft start" mode is maintained.

[0076] Mid-section work (5-10cm): As the depth increases, the calculated specific energy... As the temperature gradually rises, the system automatically identifies this as "increased frictional resistance in homogeneous hard soil layers" and smoothly adjusts the motor voltage. Increase the impact energy to ensure a constant electrode sinking speed.

[0077] Target arrival and automatic release (10-20cm): When the cumulative depth fed back by the displacement sensor... Achieve the preset At a distance of 20cm, the main control unit triggers the highest priority interrupt. Regardless of the soil resistance below, the system immediately cuts off the impact drive power, and the impact hammer precisely hovers. The end gripper of the robotic arm releases synchronously, completing the standard deployment action at that point.

[0078] Step 5) Continuous Operation and Intelligent Response The telescopic support legs retract, and the device moves to point 2. Repeat steps 2-4. Once operation at point 10 is complete, all electrodes on the first row of the discharge rack are delivered. The system receives a command to retract the first row of the discharge rack and begin operation on the second row. The robotic arm precisely moves to the second row's material-retrieving position according to coordinate commands and continues the operations described in steps 2-4 until point 15. The impact drive system detects the impact hammer's reaction force when the electrode penetrates to a depth of 5cm. The impact increased significantly, and the resistance sensing system immediately determined that there was a hard boulder underground, terminating the impact action within 0.1 seconds. The system reported "obstruction encountered," and the navigation and positioning system, according to the preset strategy, directed the device to slightly adjust its position, successfully re-deploying at a offset of 0.3 meters, and marking the original point 15 as "invalid."

[0079] Step 6) Recycling After the entire survey line is laid out, the navigation and positioning system guides it back along the original path. The robotic arm moves to the vicinity of each electrode point according to its actual coordinates. The gripper clamps the electrode at the coordinate position and pulls it out. Upon receiving the retrieval command, the first row of the array is pushed out by the reciprocating mechanism. Its last receiving slot (e.g., slot 10) is precisely aligned with the material pick-up position. The robotic arm holds the electrode and moves it above the fixed material pick-up position. The electrode can be accurately placed into the receiving slot, and the return operation is performed. Then, the reciprocating mechanism moves the array back one position so that receiving slot 9 is precisely aligned with the material pick-up position. The above retrieval operation is repeated until the electrode in receiving slot 1 is retrieved and placed. The first row of the array is then completely retracted. The reciprocating mechanism pushes out the second row of the array, and the above operation is repeated. The operation is performed sequentially for each subsequent row of the array until all electrodes are retrieved.

[0080] Those skilled in the art will understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0081] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An automatic continuous deployment device for high-density electrical resistivity electrodes, characterized in that, include: Vehicle platform; An environmental perception system installed on the vehicle platform is used to acquire terrain and obstacle information in the working environment. The navigation and positioning system is used to determine the vehicle's position on the survey line and generate a travel path; An automatic movement system is used to drive the vehicle along the survey line to the target deployment point; An electrode feeding and clamping system is used to store and deliver electrodes one by one to the deployment location; Impact-driven and resistance-sensing system, used to drive electrodes to penetrate underground and monitor the status of the penetration process; And the overall control system; in, The impact drive and resistance sensing system includes: Power monitoring unit, force sensing unit, and displacement monitoring unit, It is used to collect driving energy parameters, impact force signals and electrode penetration depth during electrode penetration, and to calculate the average penetration specific energy and instantaneous impact stiffness during electrode penetration based on the parameters. The overall control system is used to integrate environmental and location information obtained by the environmental perception system and the navigation and positioning system, and to receive the average penetration energy and instantaneous impact stiffness parameters output by the impact drive and resistance perception system. Based on the parameters, the system determines the formation resistance state and sends control commands to the automatic travel system, the electrode feeding and clamping system, and the impact drive system to achieve adaptive deployment of electrodes under different formation conditions.

2. The automatic continuous deployment device for high-density electrochemical electrodes according to claim 1, characterized in that, The automatic travel system includes a tracked walking mechanism, a suspension and buffer mechanism, and an automatic leveling support system. 1) Tracked walking mechanism: includes rubber or metal tracks located on both sides of the vehicle body, a drive wheel connected to the drive motor, a driven wheel that plays a guiding and tensioning role, and a support wheel group that supports the weight of the vehicle, which together constitute the track assembly. 2) The suspension and buffer mechanism are connected between the track assembly and the upper frame of the vehicle body; 3) Automatic leveling support system: Used to provide a stable platform for the device during electrode insertion and removal operations, including: i) Telescopic outriggers - including at least four telescopic outriggers respectively arranged at the four corners of the vehicle body, each telescopic outrigger being independently controlled and operated, and the telescopic outriggers being selected from electric push rods or hydraulic cylinders. ii) Support feet - installed at the bottom of each telescopic outrigger for contact with the ground. iii) Horizontal monitoring unit - integrated into the vehicle body, used for real-time monitoring of the vehicle's horizontal attitude, using a tilt sensor. iv) Locking mechanism - When the telescopic outriggers are extended and leveled, the locking mechanism will rigidly lock the telescopic outriggers.

3. The automatic continuous deployment device for high-density electrical resistivity electrodes according to claim 1, characterized in that, The feeding and clamping system implements "matrix storage + bidirectional automatic recursion + fixed-station clamping", including: 1) Modular electrode supply unit: It includes a modular electrode compartment located on the top of the vehicle body, with several rows of electrode racks on the electrode compartment. A push mechanism is installed below the racks, which is driven by a stepper motor to move the electrodes to a fixed pick-up position. The fixed pick-up position of each row of electrode racks is located at the front end of the rack, with a photoelectric sensor on the side to confirm that the electrode has been delivered to the fixed pick-up position. Each row of electrode racks has regularly arranged and equally spaced receiving slots, with one electrode placed in each slot. There are gaps between adjacent electrodes, and the connecting cables on the upper part of the electrodes naturally drag outside the receiving slots. 2) Execution Unit: The robot uses a six-degree-of-freedom articulated robotic arm as the execution body, including base rotation, upper arm pitch, lower arm pitch, wrist rotation, wrist pitch and end effector rotation, covering the entire process of "picking-carrying-inserting-removing-placing". Each joint is driven by a servo motor, and the end effector rotation integrates a torque sensor to sense the resistance during insertion and removal. When picking up electrodes, the robotic arm is positioned at each fixed picking position. 3) End effector: The end effector is mounted on the rotating gripper at the end of the robotic arm, including: i) Adaptive clamping mechanism: It adopts a two-finger gripper structure, and its opening angle, opening degree and clamping force are controlled by a motor. The inner surface of the two-finger gripper is covered with a rubber / polyurethane anti-slip layer. ii) Force sensing module: The force sensing module is located at the base of the gripper and is used to monitor the clamping force in real time, forming a closed-loop control to ensure that the clamping force is always within a range that can prevent slippage without damaging the electrodes.

4. The automatic continuous deployment device for high-density electrical resistivity electrodes according to claim 1, characterized in that, The navigation and positioning system is used to acquire and calculate the device's pose information in real time, including: GNSS module: Supports real-time dynamic differential RTK working mode, capable of receiving signals from BeiDou and GPS satellite navigation systems, and calculating the absolute geographic coordinates of the device in real time. Inertial Measurement Unit (IMU): It has a built-in three-axis gyroscope and a three-axis accelerometer to monitor the three-dimensional angular velocity and linear acceleration of the device in real time, and then calculate its attitude angle and motion state. It can also be used as a supplement to GNSS positioning when the GNSS signal is weak.

5. The automatic continuous deployment device for high-density electrical resistivity electrodes according to claim 1, characterized in that, The environmental sensing system includes: 1) Obstacle avoidance sensor module The obstacle avoidance sensing module includes a lidar and an ultrasonic sensor; the lidar is used to acquire the surrounding 3D point cloud and identify the geometric size, precise position and height of obstacles in front; the ultrasonic sensor is used to fill blind spots at close range and detect low or transparent obstacles. 2) Visual Perception Module The visual perception module includes a camera device and an image processing and recognition unit; the camera device includes a forward-facing camera and a downward-facing camera. The forward-facing camera collects images of the road surface and surrounding environment in real time, while the downward-facing camera focuses on shooting the ground surface and identifying the ground conditions in the work area; the image processing and recognition unit is used to analyze the images collected by the camera device. 3) Data fusion and discrimination unit The data fusion and discrimination unit is used to receive and comprehensively process multi-source heterogeneous data from the obstacle avoidance sensing module and the visual perception module to achieve "obstacle attribute calculation and accessibility classification" and "target point operation suitability comprehensive judgment".

6. The automatic continuous deployment device for high-density electrochemical electrodes according to claim 5, characterized in that, The specific methods for achieving "obstacle attribute calculation and accessibility classification" and "target point operation suitability comprehensive judgment" are as follows: An quantifiable classification of obstacles is achieved using a progressive analysis process of "geometric initial screening → material verification → terrain adaptation". Geometric clearance determination: based on preset physical limit parameters of the device, i.e., maximum obstacle clearance height. and maximum safe climbing angle Obstacle height extracted from lidar point clouds With slope Perform a comparison, if and If it is, then mark it as "geometrically passable"; otherwise, mark it as "geometrically impassable". Material attribute filtering: For obstacles marked as "geometrically impassable" but suspected to be vegetation, "Laser point cloud penetration feature analysis" is initiated. To quantify the laser's penetration characteristics through obstacles, the processor constructs a cylindrical or cuboid 3D detection window pointing towards the center of the obstacle, and calculates the "depth discretization index" of the point cloud within the window along the laser beam direction; let the set of point clouds within the window be... The distance from each point to the lidar optical center is Then the depth of dispersion index The calculation formula is: in This is the average distance of all points within the window; if the obstacle is a rigid object such as rock or earth, the laser cannot penetrate it, and the echo point cloud is mainly concentrated on the surface of the object facing the radar, forming a "sheet-like" distribution. The value is small, approaching 0. If the obstacle is a flexible object such as shrubs or grass, the laser beam can pass through the gaps between leaves and penetrate into the interior or even reach the rear. The echo point cloud exhibits a "diffuse" distribution in the depth direction. The value is significantly higher than that of a rigid object; if the calculated value is... , If a preset discrete threshold is set and the auxiliary visual recognition result is "vegetation texture", then the obstacle is determined to be a flexible, traversable obstacle, and the automatic travel system is controlled to force passage in a low-speed, high-torque mode; otherwise, it is determined to be a rigid obstacle, and obstacle avoidance and detour are executed. Negative terrain crossing determination: For negative terrain such as gullies, the determination is based on the track contact length. To determine its traversability, the width of the ditch... If the ditch is crossed, it is determined to be "crossable"; otherwise, it is marked as an impassable area, and local path replanning is triggered to detour. Based on the combined results of visual recognition of ground material and micro-obstacles from the downward-facing camera, and the precise coordinates of the current location, a pre-defined rule base is used to make a decision: If the soil is identified as "soil" or "sand" and there are no labels for "waterlogging" or "dense root system", it is determined to be "suitable for deployment". If the area is identified as "bedrock", "concrete", or has labels indicating "large gravel" or "water accumulation", it will be deemed "unsuitable for deployment". The determination result, along with the detailed reasons, will be sent to the central control system.

7. The automatic continuous deployment device for high-density electrochemical electrodes according to claim 1, characterized in that, The impact drive and resistance sensing system enables the electrode to be inserted into the predetermined monitoring ground. The impact mechanism, under the action of the impact motor, pushes the lower end of the electrode into the ground. Real-time monitoring is carried out in a mode of "multi-source hardware sensing - dual-parameter physical calculation - hierarchical collaborative control". The specific process is as follows: 1) Multi-source hardware sensing: Electricity-force-displacement three-dimensional collaborative sensing unit The three-dimensional collaborative sensing unit of electric force and displacement is responsible for acquiring macroscopic energy consumption and microscopic mechanical data in real time and synchronously during the electrode impact insertion process, providing an accurate data source for resistance calculation. It includes three core sensing modules: i) Drive power monitoring module: A high-precision Hall voltage / current sensor is integrated into the power supply circuit of the impact motor to synchronously collect the motor's operating voltage in real time at a millisecond sampling rate. and operating current This is used for subsequent assessment of the total electrical load consumed by the impact mechanism in overcoming soil friction; ii) Dynamic force sensing module: Captures the peak value of the maximum reaction force generated at the moment the impact mechanism strikes the electrode each time through a force sensor; iii) High-frequency displacement monitoring module: The absolute depth of the electrode is recorded in real time by a displacement sensor. The displacement data is processed by time differentiation to obtain the average penetration rate within the time window. and the minute displacement response generated by a single impact ; 2) Dual-parameter physical calculation: Formation resistance calculation model Considering the physical difference between side friction and instantaneous end resistance in complex strata, the average penetration energy was constructed. With instantaneous impact stiffness The dual-parameter solution model; i) The macroscopic average resistance is characterized by the average penetration energy. Based on a sliding time window, the average effective current of the impact motor during this period is collected. With the average penetration rate of the electrode And combined with the electro-mechanical energy conversion efficiency coefficient ,calculate : ； This reflects the total energy consumed by the electrode per unit depth of penetration; when the electrode enters a clay layer or deep soil with uniformly increasing density, the side friction increases, and the penetration rate... Decreasing the system's overall energy consumption increases the system's total energy consumption. It shows a smooth upward trend; ii) Microscopic local resistance is characterized using instantaneous impact stiffness. Simultaneously extract the set of peak values ​​of single impact reaction forces fed back by the force sensor within the time window, and calculate its average peak value. Combined with the tiny displacement of a single impact calculate : ； This reflects the local mechanical properties of the electrode tip contact surface; if the electrode tip suddenly strikes a gravel or other hard object, even... There has not been a drastic change yet. Also because The surge resulted in a leap in orders of magnitude; 3) Hierarchical Cooperative Control: Adaptive Control Strategy Based on Two Parameters Construct including target depth Mean penetration energy With instantaneous impact stiffness The multidimensional decision tree, by setting conditional branches with different priorities, issues closed-loop control commands: i) Priority 1: Normal completion and shutdown The displacement of a single sinking event is accumulated in real time using a displacement sensor. Get the current cumulative penetration depth ; In any operating state, once detected If the electrode placement is deemed to be up to standard, the main control system will immediately trigger the highest priority interruption to cut off the impact power. The robotic arm gripper mechanism will automatically release and reset, and enter the next work cycle. ii) Priority 2: Emergency Stop and Obstacle Avoidance when If instantaneous impact stiffness is detected A millisecond-level step jump occurs and exceeds the limit threshold, regardless of the macroscopic energy consumption at this time. If there is an anomaly, it is determined that an impenetrable boulder or bedrock has been encountered; to prevent equipment overload or electrode damage, the system immediately cuts off the impact power supply, triggers the obstacle avoidance protection mechanism, and the robotic arm pulls out the electrode and performs offset repositioning. iii) Priority 3: Boost Mode when and Under normal circumstances, if the calculated average penetration energy If the electrode deviates significantly from the initial reference and continues to rise, the system determines that it has entered a homogeneous hard soil layer. It then automatically increases the motor's operating voltage and instructs the robotic arm to apply auxiliary downward pressure to ensure the penetration rate. Stability; iv) Priority 4: Normal Low-Power Mode when ,and and When all values ​​are within the preset low-level stable range, the current soil layer is determined to be soft and homogeneous, and the standard low-frequency impact action is maintained.

8. A method for automatically and continuously deploying a high-density electrochemical electrode according to any one of claims 1-7, characterized in that, Includes the following steps: Step 1) Task initialization and autonomous movement: Input the coordinates of the target point of the survey line and the parameters of the electrode spacing into the navigation and positioning system. The navigation and positioning system plans the optimal movement path, the automatic movement system is started, and the vehicle moves towards the target point of the survey line according to the optimal movement path; Step 2) Precise positioning and environmental prediction During the movement, the environmental perception system monitors multi-source heterogeneous data in the working environment in real time. The "obstacle attribute calculation and passability classification judgment" determines whether the optimal travel path planned by the navigation and positioning system is passable during the movement. If an impassable obstacle is encountered, the automatic travel system stops moving forward and feeds back to the central control system. The central control system informs the navigation and positioning system that the optimal travel path is impassable. The navigation and positioning system then replans the travel path, and the automatic travel system proceeds according to the replanned path. Step 3) Repeat step 2) until the vehicle reaches the first point of the target line; Step 4) The downward-facing camera of the environmental perception system takes pictures of the ground surface at the point, identifies the soil quality, and performs a "comprehensive judgment on the suitability of the target point operation" to determine whether it is "suitable for deployment". If so, the telescopic outriggers of the automatic leveling support system extend to support the vehicle body stably and then lock the mechanism. If not, the target point of the survey line is replanned. Step 5) Repeat steps 1)-4) until the first point of the survey line target point that is "suitable for deployment" is found; Step 6) Automatic electrode supply and clamping The electrode feeding and clamping system receives the workable command, the push mechanism receives the command and pushes the No. 1 receiving slot of the first row of the discharge rack to the fixed material picking position. The gripper mechanism of the robotic arm moves to the fixed material picking position. The photoelectric sensor confirms that the robotic arm and the fixed material picking position are in place. The gripper mechanism takes the electrode from the fixed material picking position with a constant safety clamping force and moves it to the first point of the target point of the measurement line. Step 7) Impact Deployment and Adaptive Monitoring of Resistance The robotic arm delivers the electrode and aligns it vertically with the target point on the ground. The impact drive and resistance sensing system are activated, and the electro-force-displacement three-dimensional collaborative sensing unit simultaneously starts high-frequency sampling to calculate the current cumulative penetration depth of the electrode in real time. Mean penetration energy With instantaneous impact stiffness And execute the following adaptive control strategy based on two parameters: Normal low-consumption and boost mode: When And detected When the solution is in the stable interval, if the solution is... If the soil is within the preset low-level stable range, and the current soil layer is determined to be soft and homogeneous, maintain the standard low-frequency impact action; if the calculated... If the electrode deviates significantly from the initial reference and continues to rise, it is determined that the electrode has entered a homogeneous hard soil layer. The motor working voltage is automatically increased and the robotic arm is instructed to apply auxiliary downward pressure. Obstacle avoidance and emergency stop modes: When If detected If a millisecond-level step occurs and exceeds the limit threshold, it is determined that an impenetrable hard object such as gravel has been encountered. The impact power supply is immediately cut off, the obstacle avoidance protection mechanism is triggered, the robotic arm pulls out the electrode and performs offset repositioning. Normal completion shutdown mode: When the cumulative penetration depth fed back by the displacement sensor... When the deployment of the point is deemed to meet the standard, the highest priority interrupt is immediately triggered to cut off the impact power, the end gripper mechanism of the robotic arm releases and resets, and the deployment action of the point is completed. Step 8) Execute step 5) to find the next target point for the survey line; Step 9) Execute steps 6) and 7) to complete the placement of electrodes at the target points on the survey line; Step 10) Repeat steps 8) and 9) until the electrode layout is completed at all target points along the survey line; Step 11) After completing the test, return along the original route and pass through each test line target point one by one. Pull out the electrodes on each test line target point and retrieve them into the modular electrode compartment by the robotic arm.

9. The automatic continuous deployment method for high-density electrical resistivity electrodes according to claim 8, characterized in that, The specific process of step 7) offset relocation is as follows: Taking the current target point as the center, move outward by 5-10 cm to insert the electrode. If the first offset relocation point is still determined to encounter an impenetrable boulder or bedrock after insertion, rotate 90° around the center and insert again. If it can be inserted, insert the electrode into this point. If it is still determined to encounter an impenetrable boulder or bedrock, rotate 90° around the center again and insert again until an insertion point is found. If it is executed 4 times and it is still determined to encounter an impenetrable boulder or bedrock, abandon the target point and continue to step 8).

10. The automatic continuous deployment method for high-density electrical resistivity electrodes according to claim 8, characterized in that, The initial stage of the operation in step 7) has a working depth of 0-5cm, and the middle stage has a working depth of 5-10cm.

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