CN117585084A - Robot and method for layout and recovery of ground node type detectors - Google Patents

Abstract

The invention belongs to the technical field of advanced geological prediction, and provides a robot and a method for layout and recovery of ground node detectors, wherein a storage device for storing the detectors is arranged at one end of a chassis, a conveying device is arranged in the middle of the chassis, and a drilling device and a mechanical arm are arranged at the other end of the chassis; the chassis is also provided with a navigation positioning system. According to the information provided by the navigation positioning system, the traveling device is controlled to travel to a layout position, the drilling device drills holes, and the mechanical arm places the detectors in the drilled holes to finish layout of the detectors; controlling the traveling device to sequentially travel to the positions of all detectors, picking up the detectors on the conveying device by the mechanical arm, conveying the picked-up detectors into the storage device by the conveying device, and completing recovery of the detectors; a series of automatic operations such as transportation, measurement, drilling and burying in the wave detector arrangement and recovery process are integrated, and the efficiency of node wave detector arrangement and recovery is greatly improved.

Description

Robot and method for layout and recovery of ground node type detectors

Technical Field

The invention belongs to the technical field of advanced geological prediction, and particularly relates to a robot and a method for layout and recovery of a ground node type detector.

Background

The combined detection technology of the earth holes is one of important methods in tunnel and underground engineering construction, dozens of node detectors are respectively distributed on the geological surface above a shield machine according to different distances in a mode of changing noise into a source, earthquake waves are generated during tunneling of the shield machine, when the earthquake waves meet the bad geological body interface, part of earthquake wave signals are reflected back to be received by the node detectors distributed on the ground, and the position and the image of the bad geology in front of the tunnel are obtained through analyzing and processing the signals received by the node detectors.

The inventor finds that aiming at the layout and recovery of the ground node detectors, the layout and recovery are mainly realized in a manual mode at present, and because the node detectors are required to be laid in a large number, manual ranging is required; in addition, in order to ensure the coupling degree between the node detectors and the ground surface, each node detector needs to be buried, so that the efficiency of the whole layout process is low, and a large amount of manpower and material resources are consumed; in order to improve the setting and returning efficiency, the existing detector picking and placing robot can only realize semi-automatic operation, and at least one worker is required to perform cooperation construction on site.

Disclosure of Invention

In order to solve the problems, the invention provides a robot and a method for layout and recovery of a ground node detector, which integrate a series of automatic operations such as transportation, measurement, drilling and burying, greatly improve the layout and recovery efficiency of the node detector and save manpower and material resources.

In order to achieve the above object, in a first aspect, the present invention provides a robot for layout and recovery of a ground node type geophone, which adopts the following technical scheme:

a robot for layout and recovery of a ground node type detector comprises a chassis and a traveling device arranged on the chassis;

one end of the chassis is provided with a storage device for storing the detectors, the middle of the chassis is provided with a conveying device, and the other end of the chassis is provided with a drilling device and a mechanical arm; the chassis is also provided with a navigation positioning system and a controller, and the walking device, the conveying device, the drilling device and the mechanical arm are all connected with the controller;

the controller controls the traveling device to travel to a layout position according to the information provided by the navigation positioning system, the conveying device conveys the detectors in the storage device to the mechanical arm, the drilling device drills holes, and the mechanical arm places the detectors in the drill holes to layout the detectors; the controller controls the traveling device to travel to the position of the detector according to the information provided by the navigation positioning system, the mechanical arm picks up the detector on the conveying device, and the conveying device conveys the picked detector into the storage device for recovery of the detector.

Further, at least one obstacle avoidance device is arranged on the chassis.

Further, the walking device is a Mecanum wheel.

Further, the storage device comprises a plurality of telescopic mechanisms arranged on the chassis, two ends of the telescopic mechanisms are respectively provided with a detector placing bin, and an ejecting mechanism is arranged on the side surface, far away from the telescopic mechanisms, of the detector placing bin.

Further, a limit door is arranged on one side, close to the telescopic mechanism, of the detector placement bin.

Further, the telescopic mechanism is a bidirectional electric cylinder.

Further, the ejecting mechanism is a spring.

Further, the conveying device comprises a guide rail arranged between the telescopic mechanism and the detector placement bin, and a guide rail arranged between the storage device and the mechanical arm.

Further, the drilling device comprises a first telescopic rod vertically arranged on the chassis, a second telescopic rod hinged on the first telescopic rod, a fourth telescopic rod hinged on the second telescopic rod and a drill bit arranged on the fourth telescopic rod; the chassis is further provided with a third telescopic rod, and one end, far away from the chassis, of the third telescopic rod is hinged to the first telescopic rod.

In order to achieve the above object, in a second aspect, the present invention further provides a method for layout and recovery of a ground node detector, which adopts the following technical scheme:

a method for ground node detector deployment and retrieval using a robot for ground node detector deployment and retrieval as described in the first aspect, comprising:

the controller controls the traveling device to travel to a layout position according to the information provided by the navigation positioning system, the conveying device conveys the detectors in the storage device to the mechanical arm, the drilling device drills holes, and the mechanical arm places the detectors in the drill holes to layout the detectors;

the controller controls the traveling device to travel to the position of the detector according to the information provided by the navigation positioning system, the mechanical arm picks up the detector on the conveying device, and the conveying device conveys the picked detector into the storage device for recovery of the detector.

Compared with the prior art, the invention has the beneficial effects that:

in the invention, one end of a chassis is provided with a storage device for storing detectors, the middle is provided with a conveying device, and the other end is provided with a drilling device and a mechanical arm; the chassis is also provided with a navigation positioning system and a controller. When the detectors are distributed, the controller controls the traveling device to sequentially travel to all distribution positions according to information provided by the navigation positioning system, the conveying device conveys the detectors in the storage device to the mechanical arm, the drilling device drills holes, and the mechanical arm places the detectors in the drill holes, so that the distribution of the detectors is completed; when the detectors are recovered, the controller controls the traveling device to sequentially travel to the positions of all the detectors according to the information provided by the navigation positioning system, the mechanical arm picks up the detectors on the conveying device, and the conveying device conveys the picked-up detectors into the storage device, so that the recovery of the detectors is completed; the invention integrates a series of automatic operations such as transportation, measurement, drilling, burying and the like in the process of arranging and recycling the detectors, does not need on-site cooperation of staff, greatly improves the efficiency of arranging and recycling the node detectors, and saves manpower and material resources.

The method is suitable for scenes with lower detector distribution density, longer distribution interval and larger distribution area; compared with manual punching and embedding, the drilling and embedding has high standardization and small variability and is easier for data analysis; the arrangement and the recovery are automatically completed, and unattended and automatic cruising can be realized.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.

FIG. 1 is a schematic structural diagram of embodiment 1 of the present invention;

FIG. 2 is a schematic diagram of a drilling mechanism according to embodiment 1 of the present invention;

FIG. 3 is a flow chart of the detector layout according to embodiment 1 of the present invention;

FIG. 4 is a flow chart of the recovery of the detector according to embodiment 1 of the present invention;

1, a chassis; 2. a walking device; 3. an obstacle avoidance device; 4. a storage device; 41. a wave detector; 42. an ejecting mechanism; 43. a telescoping mechanism; 44. a first guide baffle; 45. a second guide baffle; 46. a third guide baffle; 47. a limit door; 5. a conveying device; 51. a first channel; 52. a second channel; 6. a drilling device; 61. a first telescopic rod; 62. a second telescopic rod; 63. a third telescopic rod; 64. a fourth telescopic rod; 65. a drill bit; 7. a mechanical arm; 71. a robot arm body; 72. a clamping device; 8. a power supply device; 9. and a controller.

Detailed Description

The invention will be further described with reference to the drawings and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

Example 1:

aiming at the layout and recovery of the ground node detectors, the layout and recovery are mainly realized in a manual mode at present, and because the node detectors are required to be laid in a large number, manual ranging is required; in addition, in order to ensure the coupling degree between the node detectors and the ground surface, each node detector needs to be buried, so that the efficiency of the whole layout process is low, and a large amount of manpower and material resources are consumed; in order to improve the setting and returning efficiency, the current detector picking and placing robot can only realize semi-automatic operation, and at least one worker is needed to be matched on site.

In view of the above problems, as shown in fig. 1, the present embodiment provides a robot for layout and recovery of a ground node detector, which includes a chassis 1 and a traveling device 2 disposed on the chassis 1;

one end of the chassis 1 is provided with a storage device 4 for storing a detector 41, a conveying device 5 is arranged in the middle, and the other end of the chassis is provided with a drilling device 6 and a mechanical arm 7; the chassis 1 is also provided with a navigation and positioning system and a controller 9, and the walking device 2, the conveying device 5, the drilling device 6 and the mechanical arm 7 are all connected with the controller 9;

when the detectors 41 are arranged, the controller 9 controls the travelling device 2 to sequentially travel to all arrangement positions according to the information provided by the navigation positioning system, the conveying device 5 conveys the detectors 41 in the storage device 4 to the mechanical arm 7, the drilling device 6 is used for drilling holes, and the mechanical arm 7 is used for placing the detectors 41 in the drilled holes, so that the arrangement of the detectors 41 is completed; when the detectors 41 are recovered, the controller 9 controls the travelling device 2 to sequentially travel to all the positions of the detectors according to the information provided by the navigation positioning system, the mechanical arm 7 picks up the detectors 41 on the conveying device 5, and the conveying device 5 conveys the picked-up detectors 41 into the storage device 4, so that the recovery of the detectors 41 is completed; the embodiment integrates a series of automatic operations such as transportation, measurement, drilling, burying and the like in the process of arranging and recycling the detectors 41, does not need on-site cooperation of staff, greatly improves the efficiency of arranging and recycling the node detectors, and saves manpower and material resources.

It may be appreciated that, in this embodiment, in order to implement control over the robots, optionally, a control terminal is provided, and one control terminal may be connected to at least one robot to implement control over one or more robots.

Optionally, the navigation positioning system is a Beidou satellite navigation positioning system, and can be arranged on the chassis 1 together with the controller 9; the chassis 1 is also provided with a power supply device 8, such as a storage battery and the like, for supplying energy to a controller 9 and a driving part of each mechanism in the robot.

Optionally, four running apparatuses 2 are arranged on the chassis, each running apparatus 2 comprises a running wheel and a motor, each running wheel adopts a Mecanum wheel, each Mecanum wheel is driven by an independent motor, and 360-degree steering and movement can be realized without adding a steering mechanism.

The chassis 1 is provided with an obstacle avoidance device 3 and a Beidou satellite navigation and positioning system; optionally, the front, back, left and right positions of the chassis 1 are provided with obstacle avoidance devices 3; the obstacle avoidance device 3 may include a ranging radar, a high-definition camera, and the like, which are connected to the controller 9. When the robot encounters an obstacle during the traveling, the range radar gives a warning to the controller 9 at a certain distance, the controller 9 determines the surrounding environment through the imaging of the high-definition camera, turns to the side without the obstacle, and re-plans the route, thereby realizing the obstacle avoidance function when the robot walks.

In this embodiment, the detector 41 is a node detector; the storage device 4 may be provided with a plurality of cells for storing a plurality of node detectors that need to be laid or recovered, where the cells in fig. 1 do not represent the actual number, and may be set according to actual needs. For the convenience of conveying and recycling of the detectors, the unit cells are divided into four areas, each unit cell can be understood as one detector placing bin, each detector placing bin stores one node type detector, and a contact sensor is arranged, so that the detector is convenient to store and count.

Each detector placing bin is provided with a limiting door 47 and an ejecting mechanism 42, when the detectors 41 are distributed, the limiting door 47 corresponding to the detector placing bin is opened, and the detectors 41 are ejected onto the guide rail of the conveying device 5; each detector is placed the storehouse and is set up telescopic machanism 43 opposite, telescopic machanism 43 can be two-way electric jar to carry proximity sensor, when retrieving, the detector 41 carries when corresponding detector is placed the storehouse the place ahead, proximity sensor triggers, spacing door 47 is opened, and the electric jar pole stretches out, pushes detector 41 into the detector and places the storehouse, then spacing door 47 is closed. The limit door may be provided as an electric limit door 47, the opening and closing of which may be achieved by conventional techniques, and will not be described in detail herein; the ejection mechanism 42 may be an elastic member such as a spring.

Alternatively, the conveying device 5 may be realized by a conveyor belt, a conveyor chain and other conveying mechanisms; in one embodiment, the conveying device 5 includes a plurality of conveying rails, a driving stepping motor, and a guide plate. The transporting device 5 may transport the detectors 41 in the storage device 4 to the position where the front end of the carrier chassis needs to be buried one by one, and may transport the detectors 41 recovered from the front end into the storage device 4.

As shown in fig. 1, the delivery device 5 may include a first channel 51 and a second channel 52; in order to feed the detectors 41 of different areas to the first channel 51, a guide baffle is arranged between the first channel 51 and the second channel 52, respectively.

Specifically, when the detectors 41 are arranged, the limiting door 47 in the first area is opened, the ejecting mechanism 42 ejects the detectors 41, the first guide baffle 44 moves to the position (2), the second guide baffle 45 and the third guide baffle 46 are respectively positioned at the positions (3) and (4), and at the moment, the detectors 41 in the first area can be conveyed to the front end pre-embedding position through the conveying device 5; similarly, when the detectors in the second zone are ejected, the first guide baffle 44 moves to the position (1), and the second guide baffle 45 and the third guide baffle 46 are respectively positioned at the positions (3) and (4); when the detector 41 in the third zone pops up, both the second guide shutter 45 and the third guide shutter 46 move to (4); when the detector 41 in the fourth zone pops up, both the second guide shutter 45 and the third guide shutter 46 move to (3).

When the node type detector is recovered, the detector 41 is conveyed to the four areas, the second guide baffle 45 and the third guide baffle 46 are both moved to the position (3), two-way electric cylinders are arranged on the right opposite sides of the cells, and proximity sensors are additionally arranged, when the node type detector is conveyed to the positions of the four areas, the proximity switches are triggered, the limit doors 47 are opened, the electric cylinder rods extend out, the node type detector is pushed into the cells, then the limit doors 47 are closed, and after the node type detector is arranged in the cells, the electric cylinders do not act, so that the node type detector is sequentially recovered into each cell; similarly, the detector is conveyed to the three zones, and the second guide baffle 45 and the third guide baffle 46 are moved to the position (4); the detector is conveyed to the two zones, the first guide baffle 44 moves to the position (1), and the second guide baffle 45 and the third guide baffle 46 are respectively positioned at the positions (3) and (4); the detector is transported to a zone where the first guide baffle 44 moves to (2), and the second guide baffle 45 and the third guide baffle 46 are located at (3) and (4), respectively.

The first guide baffle 44, the second guide baffle 45 and the third guide baffle 46 may be disposed on the chassis 1 through driving devices such as a motor or a telescopic device, for example, one ends of the first guide baffle 44, the second guide baffle 45 and the third guide baffle 46 are disposed on an output shaft of the motor, and the output shaft of the motor rotates in a certain range to realize the switching of the guide baffles at each position; or the whole baffle is directly arranged on the chassis through a telescopic device, and the switching of the guide baffle at each position is realized through the telescopic action of the telescopic device; in other embodiments, the first guide baffle 44, the second guide baffle 45, and the third guide baffle 46 may be implemented by conventional arrangements, and will not be described in detail herein.

As shown in fig. 2, the drilling device 6 includes a first telescopic rod 61, a second telescopic rod 62, a third telescopic rod 63, a fourth telescopic rod 64, a drill bit 65, and the like; the first telescopic rod 61 is provided on the chassis by a turntable or the like, and can be extended and retracted as well as rotated. After the controller 9 sends out the position information, the running gear 2 will chassis 1 moves to the position of predetermineeing, then the first telescopic link 61 of drilling equipment is rotatory, flexible, and second telescopic link 62, third telescopic link 63 and fourth telescopic link 64 are flexible in proper order, expand the drill bit 65 to chassis 1 below and punch the operation to follow-up node detector buries.

The mechanical arm 7 may be a 6-axis mechanical arm, and includes a mechanical arm body 71, a clamping device 72, a ranging sensor, a high-definition camera, and the like. When the drilling device 6 is arranged, after drilling holes, the drill bit 65 is retracted, the mechanical arm 7 clamps the detector 41 on the conveying device and moves to the coordinate position of the drill bit 65 when drilling holes, and then the detector 41 is placed in the positioning holes; during recovery, the chassis 1 moves to the detector 41 according to the Beidou satellite navigation system, then the mechanical arm 7 is matched with the high-definition camera by means of the ranging sensor, the position of the detector 41 is accurately positioned, a node type detector on the ground is clamped, and then the node type detector is placed on the conveying device 5.

The controller 9 controls and corrects each system of the robot body. And meanwhile, monitoring information such as battery power in the power supply device 8, when the battery power is lower than a preset value, storing current position information by the controller 9, then moving to a preset charging pile position in an optimal path, and returning to the stored position after charging is completed.

And the control terminal receives various data of the robot so as to control the command, monitor the state and display the robot in real time.

As shown in fig. 3, in this embodiment, the optional node detector layout flow and method are as follows:

the control terminal receives the point bitmap to be laid out by the node detector, performs path planning according to the point bitmap, and then sends a control command to the robot controller 9.

The controller 9 determines a position and an optimal route according to a Beidou satellite navigation and positioning system carried by the robot, then sends a control command to the running gear 2, and the running gear 2 moves to a first point position according to the command.

The chassis 1 is provided with the obstacle avoidance device 3 and the Beidou satellite navigation positioning system, when a robot encounters an obstacle during traveling, the range radar gives a warning to the controller 9 at a certain distance, the controller 9 determines the surrounding environment through imaging of the high-definition camera, turns to the side without the obstacle, and re-plans a route, so that the robot moves to a first point position.

After the robot reaches the first point, the controller 9 sends an instruction to the drilling device 6, the first telescopic rod 61 can rotate and stretch, the second telescopic rod 62, the third telescopic rod 63 and the fourth telescopic rod 64 extend out successively, the drilling device 6 is automatically unfolded, the drill bit 65 extends out to punch the ground so as to embed a subsequent node detector, and after the drilling device 6 finishes punching, the four telescopic rods are sequentially retracted and folded on the chassis 1; the third telescopic rod 63 may also be provided on the turntable.

The limit doors 47 of the storage area cells are opened in sequence, and the detector 41 is sprung to the guide rail of the front conveyor 5 by the ejector mechanism 42. Wherein each cell is provided with a touch sensor for detecting whether the detector 41 is present in the cell. Specifically, when the detectors in one area are popped up, the first guide baffle 44 moves to the position (2), the second guide baffle 45 and the third guide baffle 46 are respectively positioned at the positions (3) and (4), and at the moment, the detectors in one area can be conveyed to the front pre-buried position through the conveying device 5; similarly, when the two-zone detector pops up, the first guide baffle 44 moves to the position (1), and the second guide baffle 45 and the third guide baffle 46 are respectively positioned at the positions (3) and (4); when the detectors in the third zone are ejected, the second guide baffle 45 and the third guide baffle 46 are moved to the position (4); when the four-zone pinching detector ejects, both the second guide shutter 45 and the third guide shutter 46 move to (3).

After the detector 41 reaches the pre-buried position through the conveying device 5, the clamping device 72 on the mechanical arm 7 clamps the detector 41, moves to the coordinate position of the drill bit 65 when the drill bit is perforated, places the detector 41 into the positioning hole, and then resets the mechanical arm 7 to the initial position, so that the first point position burying work is completed. In this order, the layout of all the node detectors is completed sequentially.

In this embodiment, as shown in fig. 4, the node detector recovery flow and method are as follows:

the control terminal receives the point bitmap to be recovered by the node detector, performs path planning according to the point bitmap, and then sends a control command to the controller 9.

The controller 9 determines the position and the optimal route according to the Beidou satellite navigation and positioning system carried by the robot, then sends a control command to the traveling system, and the traveling device 2 moves to the first point according to the command.

The chassis 1 is provided with the obstacle avoidance device 3 and the Beidou satellite navigation positioning system, when a robot encounters an obstacle during traveling, the range radar gives a warning to the controller 9 at a certain distance, the controller 9 determines the surrounding environment through imaging of the high-definition camera, turns to the side without the obstacle, and re-plans a route, so that the robot moves to a first point position.

After the robot reaches the first point position, the controller 9 sends out an instruction to the mechanical arm 7, the mechanical arm 7 accurately positions the detector by means of the cooperation of the ranging sensor and the high-definition camera, clamps the above-ground node detector, places the above-ground node detector on the conveying device 5, and resets to the initial position. At this time, the conveyor 5 rotates reversely, and sequentially conveys the node detectors to the storage area.

Specifically, when the node detector is conveyed to the four areas, the second guide baffle 45 and the third guide baffle 46 are moved to the position (3), the two-way electric cylinders are arranged on the right opposite sides of the cells, and proximity sensors are additionally arranged, when the detector is conveyed to the four areas, the proximity switches are triggered, the limit doors 47 are opened, the electric cylinder rods extend out, the node detector is pushed into the cells, then the limit doors 47 are closed, and after the node detector is arranged in the cells, the two-way electric cylinders do not act, so that the node detector is sequentially recovered into each cell; similarly, the node detector is conveyed to the three zones, and the second guide baffle 45 and the third guide baffle 46 are moved to the position (4); the node detector is conveyed to the two areas, the first guide baffle 44 moves to the position (1), and the second guide baffle 45 and the third guide baffle 46 are respectively positioned at the positions (3) and (4); the detector is transported to a zone where the first guide baffle 44 moves to (2), and the second guide baffle 45 and the third guide baffle 46 are located at (3) and (4), respectively.

After the node detectors at the first point location are recovered into the storage area cells, the recovery actions of all the node detectors are sequentially completed in the sequence.

Example 2:

the present embodiment provides a method for ground node detector arrangement and recovery, using a robot for ground node detector arrangement and recovery as described in example 1, comprising:

the controller controls the traveling device to travel to a layout position according to the information provided by the navigation positioning system, the conveying device conveys the detectors in the storage device to the mechanical arm, the drilling device drills holes, and the mechanical arm places the detectors in the drill holes to layout the detectors;

the controller controls the traveling device to travel to the position of the detector according to the information provided by the navigation positioning system, the mechanical arm picks up the detector on the conveying device, and the conveying device conveys the picked detector into the storage device for recovery of the detector.

The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.

Claims (10)

1. The robot for layout and recovery of the ground node type detectors is characterized by comprising a chassis and a traveling device arranged on the chassis;

one end of the chassis is provided with a storage device for storing the detectors, the middle of the chassis is provided with a conveying device, and the other end of the chassis is provided with a drilling device and a mechanical arm; the chassis is also provided with a navigation positioning system and a controller, and the walking device, the conveying device, the drilling device and the mechanical arm are all connected with the controller;

the controller controls the traveling device to travel to a layout position according to the information provided by the navigation positioning system, the conveying device conveys the detectors in the storage device to the mechanical arm, the drilling device drills holes, and the mechanical arm places the detectors in the drill holes to layout the detectors; the controller controls the traveling device to travel to the position of the detector according to the information provided by the navigation positioning system, the mechanical arm picks up the detector on the conveying device, and the conveying device conveys the picked detector into the storage device for recovery of the detector.

2. A robot for deployment and retrieval of land node detectors according to claim 1, wherein said chassis is further provided with at least one obstacle avoidance device.

3. A robot for deployment and retrieval of ground node detectors according to claim 1, wherein said running gear is a mecanum wheel.

4. The robot for layout and recovery of ground node type detectors according to claim 1, wherein the storage device comprises a plurality of telescopic mechanisms arranged on the chassis, detector placement bins are respectively arranged at two ends of the plurality of reporting mechanisms, and an ejecting mechanism is arranged on a side surface, far away from the telescopic mechanisms, of the detector placement bins.

5. The robot for deployment and retrieval of ground node detectors of claim 4, wherein said detector placement bin is provided with a stop gate on a side thereof adjacent said telescoping mechanism.

6. A robot for deployment and retrieval of a ground node detector according to claim 4, wherein the telescoping mechanism is a bi-directional electric cylinder.

7. A robot for deployment and retrieval of a floor node detector according to claim 4, wherein the ejector mechanism is a spring.

8. A robot for deployment and retrieval of a floor-node detector according to claim 4, wherein the conveyor includes a rail disposed between the telescoping mechanism and the detector placement bin, and a rail disposed between the storage device and the robotic arm.

9. The robot for deployment and retrieval of a ground node detector of claim 1, wherein the drilling device comprises a first telescoping rod vertically disposed on the chassis, a second telescoping rod hinged to the first telescoping rod, a fourth telescoping rod hinged to the second telescoping rod, and a drill bit disposed on the fourth telescoping rod; the chassis is further provided with a third telescopic rod, and one end, far away from the chassis, of the third telescopic rod is hinged to the first telescopic rod.

10. A method for ground node detector deployment and retrieval using a robot for ground node detector deployment and retrieval as claimed in any one of claims 1 to 9, comprising:

the controller controls the traveling device to travel to a layout position according to the information provided by the navigation positioning system, the conveying device conveys the detectors in the storage device to the mechanical arm, the drilling device drills holes, and the mechanical arm places the detectors in the drill holes to layout the detectors;

the controller controls the traveling device to travel to the position of the detector according to the information provided by the navigation positioning system, the mechanical arm picks up the detector on the conveying device, and the conveying device conveys the picked detector into the storage device for recovery of the detector.