Submerged elements, such as cracks inside concrete material or hidden pathological tissue, can potentially threaten safety and health. Thus, the detection of abnormal objects internally is of importance and frequently required. In this study, we propose a novel electrical impedance measurement method with the assistance of a robotic system. Specifically, the proposed measurement method is able to perform subsurface object detection effectively, noninvasively, flexibly and autonomously. The measurement system is developed based on a tripolar impedance sensing configuration. Specifically, a current-source electrode and a voltage-measurement electrode are attached to different robots, and directed to a series of preset positions on the object’s surface. By injecting current into the object and measuring voltages around the current source, the apparent resistivity of the internal structure of the object can be calculated using the proposed algorithm. The related circuit hardware and autonomous control strategy are developed. Subsequently, the proposed system is evaluated through a series of water tank experiments. The experimental results demonstrate that the proposed system can detect a subsurface heterogeneous object effectively and efficiently. In addition, the reconstructed results allow us to discriminate the location of the subsurface object with about 90% accuracy.

淹没的元素，例如混凝土材料内部的裂缝或隐藏的病理组织，可能会威胁到安全和健康。因此，内部异常对象的检测非常重要并且经常需要。在这项研究中，我们在机器人系统的帮助下提出了一种新的电阻抗测量方法。具体而言，所提出的测量方法能够有效、无创、灵活和自主地执行地下物体检测。测量系统是基于三极阻抗传感配置开发的。具体来说，将电流源电极和电压测量电极连接到不同的机器人上，并指向物体表面的一系列预设位置。通过将电流注入物体并测量电流源周围的电压，可以使用所提出的算法计算物体内部结构的视电阻率。开发了相关的电路硬件和自主控制策略。随后，通过一系列水箱实验对所提出的系统进行了评估。实验结果表明，所提出的系统可以有效地检测地下异质物体。此外，重建的结果使我们能够以大约 90% 的准确度区分地下物体的位置。实验结果表明，所提出的系统可以有效地检测地下异质物体。此外，重建的结果使我们能够以大约 90% 的准确度区分地下物体的位置。实验结果表明，所提出的系统可以有效地检测地下异质物体。此外，重建的结果使我们能够以大约 90% 的准确度区分地下物体的位置。