In-situ detection robot and detection method for geological information without disturbance of in-situ stress

An in-situ detection robot for geological information without disturbance of in-situ stress including a sleeve, wherein a drilling unit and a support propulsion unit are set from a top to a bottom outside the sleeve, a dumping unit is set inside the sleeve, a detection unit is set between the drilling unit and the support propulsion unit, and a robot tail is connected to a control unit;

• the dumping unit is configured to discharge soil drilled from the drilling unit to a ground, the support propulsion unit provides support and helps to advance, move, and orient a robot body, and the detection unit is used to detect geological information of surrounding environment of the robot, the control unit is used to control the drilling unit, the support propulsion unit and the detection unit, and the control unit collects and processes the geological information transmitted by the detection unit;
• and
• the support propulsion unit includes a fore-body airbag, an after-body airbag and an adaptive airbag which are coaxially arranged from the top to the bottom outside the sleeve, the fore-body airbag and the after-body airbag are connected by an axial contraction component, the after-body airbag is fixed with the adaptive airbag, the axial contraction component cooperates with the fore-body airbag and the after-body airbag to realize an axial movement of the fore-body airbag and the after-body airbag along an outer wall of the sleeve, so that the robot moves forward, the adaptive airbag realizes an environmental adaptation of the robot so that the robot body maintains stability.