Geological radar detection device suitable for multi-terrain movement

Abstract

The invention provides a geological radar detection device suitable for multi-terrain movement, which comprises a crawler and a lifting mechanism A arranged at the top of the crawler, a rotating mechanism is arranged on one side of the lifting mechanism A, a lifting mechanism B is arranged on the output side of the rotating mechanism, and a detector is arranged on the lifting mechanism B; the bottom of the crawl device is provided with an adsorption mechanism used for keeping stable on the vertical or inverted metal pipeline and the tunnel wall, and the adsorption mechanism generates enough adsorption force to ensure that the robot is stably attached to the surface of the pipeline. According to the geological radar detection device suitable for multi-terrain movement, the special adsorption mechanism is designed on the crawl device, the mechanism can generate enough adsorption force, it is ensured that the robot is stably attached to the vertical or inverted pipeline and tunnel wall and does not hinder movement, and therefore the problems of rolling and clamping stagnation caused by gravity are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of geological radar detection equipment, and in particular to a geological radar detection device suitable for multi-terrain movement. Background Art

[0002] Our company applied for an invention patent with patent number CN114114244A in 2021. The patent document discloses a pipeline robot based on radar detection, including a robot body (crawler), a lifting mechanism, a rotating scanning mechanism and a geological radar. The geological radar can complete circumferential scanning of the pipeline at different angles through the rotating scanning mechanism; through the cooperation of the robot body (crawler), the lifting mechanism and the rotating scanning mechanism, mobile radar detection of multiple terrains can be completed.

[0003] As for the existing radar pipeline detection robots, in actual use, they not only need to complete the radar detection of horizontal pipelines, but also need to be applied to the radar detection of vertical pipelines. However, after research, it is found that the current radar pipeline detection robots are not easy to move in vertical pipelines. Specifically, if the pipeline robot is to move in the vertical pipeline, it must be ensured that the volume of the pipeline robot is smaller than the vertical pipeline. However, when a pipeline robot smaller than the pipe diameter is used in a vertical pipeline, it will roll in the vertical pipeline due to gravity until it gets stuck in the pipeline or falls to the end of the pipeline. Therefore, the existing geological radar detection robots are not convenient to be used in vertical pipelines. Summary of the invention

[0004] The present invention provides a geological radar detection device suitable for multi-terrain movement, which solves the problem that radar pipeline detection robots in the prior art are difficult to move in vertical pipelines.

[0005] The technical solution of the present invention is achieved in this way:

[0006] A geological radar detection device suitable for multi-terrain movement, comprising a crawler and a lifting mechanism A arranged on the top of the crawler, a rotating mechanism arranged on one side of the lifting mechanism A, a lifting mechanism B arranged on the output side of the rotating mechanism, and a detector arranged on the lifting mechanism B;

[0007] The bottom of the crawler is provided with an adsorption mechanism for maintaining stability on a vertical or inverted metal pipe and a tunnel wall. The adsorption mechanism generates sufficient adsorption force to ensure the stable attachment of the robot to the pipe surface.

[0008] Furthermore, the adsorption mechanism includes at least one electromagnet and a connecting piece matched therewith, wherein the connecting piece is connected between the electromagnet and the crawler.

[0009] Furthermore, it also includes a wall-adhering limiting mechanism, which includes at least one wall-adhering wheel. The wall-adhering wheel is configured on the lifting mechanism A, allowing it to be arranged relative to the crawler wheel of the crawler to meet the contact with the pipeline or tunnel wall.

[0010] Furthermore, the wall-adhering limiting mechanism further comprises at least two balancing plates, one of which is fixed on the lifting mechanism A; and adjacent balancing plates are connected via a plurality of elastic members.

[0011] Furthermore, the elastic member is composed of a telescopic column and a spring; adjacent balancing plates are fixed to the telescopic column and the upper and lower ends of the spring respectively, and the spring is sleeved on the outside of the telescopic column.

[0012] Furthermore, the detector is a detachable radar detector.

[0013] Furthermore, the detector is a detachable six-axis detection lens.

[0014] Furthermore, it also includes a wall-adhering auxiliary mechanism, which includes an anti-slip cover wrapped around the outside of the crawler wheel, a magnetic ring built into the protective cover, and the magnetic ring surrounds the outside of the crawler wheel.

[0015] Beneficial effects of the technical solution provided by this application:

[0016] 1. This geological radar detection device suitable for multi-terrain mobility has a special adsorption mechanism designed on the crawler, which can generate sufficient adsorption force to ensure that the robot is stably attached to vertical or inverted pipes and tunnel walls, thereby overcoming the rolling and jamming problems caused by gravity.

[0017] 2. The geological radar detection device suitable for multi-terrain movement has an adsorption mechanism corresponding to one side of the crawler wheel on the crawler. The crawler wheel is used as an adsorption interval, which can not only generate adsorption capacity on the side of the crawler in contact with the inner wall of the metal pipe, but also avoid excessive stability caused by close contact between the adsorption mechanism and the metal pipe. Therefore, the adsorption mechanism can be used to generate adsorption capacity with the metal pipe while improving stability, and the crawler wheel can be ensured to move along the inner wall of the metal pipe without being disturbed by the adsorption mechanism.

[0018] 3. The geological radar detection device suitable for multi-terrain mobility, the wall-adhering limit mechanism provides a dynamic support system through the combination of balance plate, telescopic column and spring, which can adapt to the irregularity of the inner wall of the pipeline. At the same time, the adsorption mechanism uses electromagnets to generate a strong adsorption force, so that the crawler is firmly attached to the inner wall of the pipeline. The combination of the two not only provides multi-point support, but also enhances the overall stability through adsorption force. This double protection mechanism significantly improves the stability of the device in vertical or inverted pipelines, and reduces the possibility of displacement and rolling due to gravity or external forces. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a front view of the present invention;

[0021] Figure 2 It is a bottom view of the present invention;

[0022] Figure 3 This is a schematic diagram of the wall-adhering limiting mechanism of the present invention;

[0023] Figure 4 This is a schematic diagram showing the disassembly state of the six-axis detection lens of the present invention;

[0024] Figure 5 It is a side view schematic diagram of the present invention.

[0025] In the figure: 10 crawler, 20 lifting mechanism A, 30 rotating mechanism, 40 lifting mechanism B, 50 detector, 60 wall-adhering limit mechanism, 61 balance plate, 62 telescopic column, 63 spring, 64 wall-adhering wheel, 70 adsorption mechanism, 71 electromagnet, 72 connecting piece, 80 wall-adhering auxiliary mechanism, 81 anti-slip sleeve, 82 magnetic suction ring. DETAILED DESCRIPTION

[0026] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] Reference Figure 1 A geological radar detection device suitable for multi-terrain movement includes a crawler 10 and a lifting mechanism A20 arranged on the top thereof. The crawler 10 is a mobile platform of the entire detection device, responsible for moving on various terrains (including horizontal, vertical or inverted metal pipes and tunnel walls). It is usually composed of one or more crawler wheels and a crawler body, and also includes a motor and a transmission system to provide power and direction control. The motor drives the transmission system and is linked to the wheels, so that the crawler moves forward, backward or turns on the inner wall of the pipeline to achieve comprehensive detection of the pipeline.

[0028] A rotating mechanism 30 is provided on one side of the lifting mechanism A20. The rotating mechanism 30 is used to adjust the direction of the detector so that it can detect different parts of the pipeline. The rotating mechanism 30 is similar to the rotating table of a CNC machine tool or the joint rotating mechanism of a robot. These mechanisms usually include a motor, a reducer, a bearing and an encoder, and can accurately control the rotation angle and speed.

[0029] A lifting mechanism B40 is provided on the output side of the rotating mechanism 30. The lifting mechanism B40 and the lifting mechanism A20 can adopt a precise electric push rod or a small servo-driven lifting platform. These devices are excellent in precision positioning and fine-tuning height and are often used in precision position detection. Hydraulic lifting platforms, pneumatic lifting columns, and scissor lifts can also be used. These devices are widely used in industrial automation and robotics to adjust the height of the equipment to meet different working height requirements.

[0030] Reference Figure 1 , Figure 4 , a detector 50 is provided on the lifting mechanism B 40, and the detector 50 is a detachable radar detector or a detachable six-axis detection lens. The detachable radar detector can be quickly disassembled from the main device, so that it is convenient to use it alone or on different devices. It is usually used to accurately measure information such as distance, speed and direction, and is widely used in geological exploration, environmental monitoring and other fields. The working principle of the detachable radar detector is based on the emission and reception of laser signals, and the distance and speed of the target are calculated by measuring the time from the emission to the reflection of the laser. This detector can be a mechanical rotary or solid-state laser radar, which realizes scanning detection through a rotating mirror or phase difference. The detachable six-axis detection lens integrates an accelerometer and a gyroscope, and can output three-axis acceleration and three-axis angular velocity data, and performs attitude fusion and solution through a digital motion processor (DMP), and outputs three-axis angle data. It is widely used in the fields of motion tracking, attitude control, etc. The working principle of the detachable six-axis detection lens involves digital motion processing (DMP), which fuses the raw data of the accelerometer and the gyroscope through an algorithm to solve the attitude angle (Euler angle) of the object. This data can be used to determine the orientation and motion of an object in space. The six-axis detection lens can be used for high-precision positioning and motion control, such as in Six degrees of freedom are used in the six-axis robot to assist in the ground calibration and testing of the spectral separation and detection device (SSDA), and its translational position accuracy reaches ±0.1μm.

[0031] The connection methods for disassembly methods can include the following: threaded connection, pin connection, bayonet connection, key connection or lock connection. These connection methods have their own characteristics and applicable scenarios. Choosing the appropriate connection method needs to be determined based on specific usage requirements and environmental conditions.

[0032] The radar detector is the core component of the device, responsible for transmitting and receiving radar waves to detect the structure and potential problems inside the pipeline. It usually includes a radar transmitter, a receiver, a signal processing unit and a data recording device. The detector 50 is detachably connected to the lifting mechanism B40. The detector 50 can be removed from the crawler and used as an independent module or mounted on other bodies for use.

[0033] The bottom of the crawler 10 is provided with an adsorption mechanism 70 for maintaining stability on vertical or inverted metal pipes and tunnel walls. The adsorption mechanism 70 generates sufficient adsorption force to ensure the stable attachment of the robot to the surface of the pipe. The adsorption mechanism 70 is designed to be located on one side of the bottom of the crawler 10, adjacent to the crawler wheel. The adsorption mechanism generates adsorption force on the side where the crawler contacts the inner wall of the pipe, while the crawler wheel is responsible for pushing the crawler to move along the inner wall of the pipe. This layout allows the adsorption mechanism to provide additional adhesion to the crawler without interfering with the normal rolling of the crawler wheel.

[0034] In the multi-terrain mobile geological radar detection device, the crawler 10 generates adsorption force with the inner wall of the metal pipe through the adsorption mechanism 70 at the bottom, ensuring the stable attachment of the device to the surface of the pipe. At the same time, with the assistance of the adsorption mechanism, the crawler wheel pushes the crawler to move along the inner wall of the pipe. The rotating mechanism 30 and the lifting mechanism B40 work together to adjust the position and angle of the detector 50 to achieve accurate detection of the inside of the pipe. When the detection environment needs to be changed or maintenance is required, the detector 50 can be easily disassembled, which improves the applicability and maintenance convenience of the device. This design enables the device to adapt to various complex detection environments and improves the efficiency and accuracy of detection.

[0035] Reference Figure 2 , the adsorption mechanism 70 includes at least one electromagnet 71 and a connector 72 matched therewith. The electromagnet is the core component of the adsorption mechanism, which is used to generate a strong magnetic field to achieve adsorption of the inner wall of the metal pipe. The connector 72 is connected between the electromagnet 71 and the crawler 10. The connector can be a metal bracket, a fixing clamp or other mechanical connection device, designed to withstand the adsorption force generated by the electromagnet and the force when the crawler moves. The connector is used to connect the electromagnet to the crawler, ensuring that the electromagnet can be stably fixed on the crawler and can be quickly installed or disassembled when necessary.

[0036] The electromagnet 71 generates a magnetic field after being energized, and the magnetic field interacts with the inner wall of the metal pipe to generate sufficient adsorption force, so that the crawler 10 can be firmly attached to the inner wall of the pipe. The connector 72 ensures a stable connection between the electromagnet and the crawler, while allowing the position of the electromagnet to be quickly replaced or adjusted when necessary. When the crawler needs to be moved or repositioned, the strength of the magnetic field can be adjusted by controlling the current of the electromagnet, thereby controlling the magnitude of the adsorption force. When the crawler needs to be moved, reducing the current can weaken the adsorption force, allowing the crawler to easily slide along the inner wall of the pipe. When the crawler needs to be fixed, increasing the current can enhance the adsorption force and ensure the stability of the crawler on the inner wall of the pipe.

[0037] Reference Figure 3 , and also includes a wall-adhering limiting mechanism 60, the main function of which is to ensure that the lifting mechanism A20 contacts the pipe or tunnel wall, so as to assist the crawler 10 in maintaining stability in a vertical or inverted pipe. The wall-adhering limiting mechanism 60 includes at least one wall-adhering wheel 64, which is arranged on the lifting mechanism A20 and allows the crawler 10 to be arranged opposite to the crawler wheel of the crawler 10 to meet the contact with the pipe or tunnel wall, that is, it can provide additional support and guidance when the crawler moves along the pipe or tunnel wall.

[0038] As part of the wall-adhering limit mechanism 60, the wall-adhering wheel 64 is integrated with the lifting mechanism A20 to enhance the stability of the crawler 10 on the pipe or tunnel wall. When the crawler moves in a vertical or inverted pipe, the wall-adhering wheel 64 contacts the inner wall of the pipe, providing additional support force to prevent the crawler from deviating from the inner wall of the pipe due to gravity. The design of the wall-adhering wheel 64 allows it to work in conjunction with the crawler wheel of the crawler 10 under the drive of the lifting mechanism A20. This design not only improves the stability of the device in a vertical or inverted pipe, but also ensures the smooth movement of the crawler along the inner wall of the pipe through the guiding effect of the wall-adhering wheel. When the position of the crawler needs to be adjusted, the lifting mechanism A20 can drive the wall-adhering wheel 64 to move together, thereby achieving precise control of the crawler.

[0039] Furthermore, the wall-adhering limiting mechanism 60 also includes at least two balancing plates 61, the main function of which is to provide additional support and balance for the wall-adhering wheel 64, ensure the stability of the wall-adhering wheel 64 on the pipe or tunnel wall, and help maintain the overall balance of the crawler 10. One of the balancing plates 61 is fixed to the lifting mechanism A20; adjacent balancing plates are connected by multiple elastic members. At least two balancing plates 61 are fixed to the lifting mechanism A20, and they are connected by elastic members to form an elastic support structure that can absorb vibration and impact when the crawler moves or is subjected to external force, reducing the pressure on the inner wall of the pipe.

[0040] When the crawler 10 moves in a pipeline or tunnel, the balance plate 61 cooperates with the wall-adhering wheel 64 to contact the inner wall of the pipeline to provide a stable support point. The connection of the elastic member allows the wall-adhering wheel 64 to deform to a certain extent when under pressure, which helps to absorb the vibration and impact caused by the movement of the crawler or the uneven inner wall of the pipeline, thereby protecting the inner wall of the pipeline from damage, while also reducing the vibration of the crawler and improving the accuracy of detection. In addition, the design of the balance plate 61 also helps to maintain the overall balance of the crawler 10, especially in vertical or inverted pipelines, the balance plate can prevent the crawler from flipping or tilting due to the shift of the center of gravity. This design allows the device to remain stable in various complex terrains, improving the efficiency and safety of geological radar detection.

[0041] Furthermore, the elastic member is composed of a telescopic column 62 and a spring 63; the adjacent balance plates are fixed to the upper and lower ends of the telescopic column 62 and the spring 63, respectively, and the spring 63 is sleeved on the outside of the telescopic column 62. The main function of the telescopic column is to provide an adjustable supporting force, allowing the balance plate 61 to telescopically move within a certain range to adapt to pipes of different diameters or shapes. The telescopic column is usually made of metal or high-strength plastic, has elasticity, and can stretch or compress when subjected to external force, thereby adjusting the contact pressure between the balance plate and the inner wall of the pipe. The main function of the spring is to provide a restoring force to help the balance plate 61 quickly return to its original position after being compressed, while absorbing vibrations and shocks.

[0042] When the crawler 10 moves in a pipe or tunnel and encounters an uneven inner wall, the telescopic column can be extended and retracted as needed to adapt to the shape change of the inner wall, and the spring provides the necessary elastic force to help the balance plate return to its original position. This design allows the crawler to maintain stable contact on the inner wall of pipes of different diameters or shapes, while absorbing vibrations and shocks caused by the movement of the crawler or the uneven inner wall of the pipe. The telescopicity of the telescopic column combined with the elasticity of the spring provides a dynamic balancing mechanism, which enables the crawler to remain stable in various complex terrains and improves the efficiency and accuracy of geological radar detection.

[0043] The wall-adhering stopper 60 can adjust itself according to the actual shape of the inner wall of the pipe, while the adsorption mechanism 70 provides the necessary adsorption force to maintain contact. This design enables the device to adapt to metal pipes of different diameters, materials and surface conditions. The adaptability of the device is greatly enhanced, allowing it to be used in a wider range of application scenarios, including old, corroded or non-standard-sized pipes.

[0044] Specifically: The electromagnet 71 in the adsorption mechanism 70 is a core component, which generates a strong adsorption force through the electromagnetic effect. When the electromagnet 71 is energized, it generates a strong magnetic field, which interacts with the inner wall of the metal pipe to generate sufficient adsorption force so that the device can be firmly attached to the pipe. The adsorption force of the electromagnet 71 can be controlled by adjusting the magnitude of the current, which enables the device to adjust the adsorption force according to different pipe materials and surface conditions to ensure the best adhesion effect. The balance plate 61 is fixed to the lifting mechanism A20 and contacts the inner wall of the pipe to provide additional support points. These support points help to disperse the weight of the device and reduce the pressure on a single contact point, thereby improving the overall stability. The telescopic column 62 allows the balance plate 61 to be telescopic within a certain range to adapt to the irregularities of the inner wall of the pipe. This design enables the device to better fit the inner wall of the pipe and remain stable even when the surface of the pipe is uneven. The spring sleeve 63 is arranged outside the telescopic column to provide elastic support for the balance plate 61. When the device is subjected to external force or the inner wall of the pipe vibrates, the spring can absorb these shocks and vibrations to reduce the impact on the stability of the device. The 70° suction mechanism provides stable suction force through electromagnets, while the 60° wall stop mechanism provides additional support and stability through a balance plate and elastic members. This dual stabilization mechanism makes the device more stable in vertical or inverted pipes, reducing displacement caused by gravity. As the device moves in the pipe, the telescopic column of the 60° wall stop mechanism can dynamically adjust to the shape of the inner wall of the pipe, while the spring can absorb vibrations during the movement. At the same time, the 70° suction mechanism can adjust the suction force as needed to adapt to changes in the position of the device. The design of the balance plate and telescopic column of the 60° wall stop mechanism helps prevent the device from rolling or sliding on the inner wall of the pipe. The balance plate provides multiple contact points to increase friction, while the spring can quickly respond and adjust the support force to prevent the device from sliding.

[0045] The 60 wall-adhering limit mechanism allows the device to move smoothly while maintaining contact with the inner wall of the pipe, while the 70 adsorption mechanism ensures that the contact with the inner wall of the pipe is not lost during the movement. This synergistic effect enables the crawler 10 to control its movement path and speed more accurately. The 60 wall-adhering limit mechanism reduces the direct pressure on the inner wall of the pipe through the elastic support of the telescopic column 62 and the spring 63, while the 70 adsorption mechanism avoids the sliding friction of the device on the inner wall of the pipe through the adsorption force of the electromagnet 71. This design reduces the damage of the device to the inner wall of the pipe, prolongs the service life of the pipe, and also reduces the potential damage caused by the device to the pipe during operation. The combination of the 60 wall-adhering limit mechanism and the 70 adsorption mechanism significantly improves the stability and safety of the device in the pipe. Even if an unexpected situation occurs inside the pipe, such as a sudden tilt or vibration of the pipe, the device can remain stable and reduce the risk of accidents. The combination of the 60° wall-adhering limit mechanism and the 70° adsorption mechanism not only improves the stability and adaptability of the device, but also optimizes mobile control, reduces damage to pipelines, and improves operation safety, achieving a significant improvement in technical effects.

[0046] Reference Figure 5 , and also includes a wall-adhering auxiliary mechanism 80, which includes an anti-skid cover 81 coated on the outside of the wheel of the crawler 10, and a magnetic ring 82 is built in the protective cover 71, and the magnetic ring 82 surrounds the outside of the wheel of the crawler 10. The main function of this mechanism is to enhance the adhesion and stability of the crawler 10 on the pipe or tunnel wall. Through the anti-skid cover 81 coated on the outside of the wheel and the protective cover 71 with the built-in magnetic ring 82, the crawler can move more stably on the inner wall of the metal pipe, reduce slippage, and improve passability and safety. The anti-skid cover 81 is an anti-skid cover coated on the outside of the crawler wheel, which provides additional friction, so that the crawler can maintain a stable grip on the slippery or rough inner wall of the pipe. The magnetic ring 82 is a magnetic ring built into the protective cover, which uses magnetic force to enhance the adsorption force between the crawler and the inner wall of the metal pipe. Especially in vertical or inverted pipes, the role of the magnetic ring is particularly important.

[0047] When the crawler 10 moves on the inner wall of the pipe, the anti-skid sleeve 81 contacts the inner wall of the pipe, providing the necessary friction to prevent the crawler from slipping. At the same time, the magnetic ring 82 generates a magnetic field, interacts with the inner wall of the metal pipe, generates an adsorption force, and further enhances the stability of the crawler. This design allows the crawler to maintain stable movement even when the inner wall of the pipe is uneven or has water stains, preventing it from slipping or losing control.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A geological radar detection device suitable for multi-terrain movement, characterized in that: The crawler comprises a crawler (10) and a lifting mechanism A (20) arranged on the top thereof, a rotating mechanism (30) is arranged on one side of the lifting mechanism A (20), a lifting mechanism B (40) is arranged on the output side of the rotating mechanism (30), and a detector (50) is arranged on the lifting mechanism B (40); The bottom of the crawler (10) is provided with an adsorption mechanism (70) for maintaining stability on a vertical or inverted metal pipe and a tunnel wall, and the adsorption mechanism (70) generates sufficient adsorption force to ensure stable attachment of the robot to the pipe surface.

2. The geological radar detection device suitable for multi-terrain movement as claimed in claim 1, characterized in that: The adsorption mechanism (70) comprises at least one electromagnet (71) and a connecting piece (72) matched therewith, wherein the connecting piece (72) is connected between the electromagnet (71) and the crawler (10).

3. The geological radar detection device suitable for multi-terrain movement as claimed in claim 1, characterized in that: It also includes a wall-adhering limiting mechanism (60), which includes at least one wall-adhering wheel (64). The wall-adhering wheel (64) is arranged on the lifting mechanism A (20) and allows the wall-adhering wheel (64) to be arranged relative to the crawling wheel of the crawler (10) to meet the contact with the pipeline or tunnel wall.

4. The geological radar detection device suitable for multi-terrain movement as claimed in claim 3, characterized in that: The wall-adhering limiting mechanism (60) further comprises at least two balancing plates (61), one of which is fixed on the lifting mechanism A (20); and adjacent balancing plates are connected via a plurality of elastic members.

5. The geological radar detection device suitable for multi-terrain movement as claimed in claim 4, characterized in that: The elastic member is composed of a telescopic column (62) and a spring (63); the adjacent balance plates are respectively fixed to the upper and lower ends of the telescopic column (62) and the spring (63), and the spring (63) is sleeved on the outside of the telescopic column (62).

6. The geological radar detection device suitable for multi-terrain movement as claimed in claim 1, characterized in that: The detector (50) is a detachable radar detector.

7. The geological radar detection device suitable for multi-terrain movement as claimed in claim 1, characterized in that: The detector (50) is a detachable six-axis detection lens.

8. The geological radar detection device suitable for multi-terrain movement as claimed in claim 1, characterized in that: The crawler also includes a wall-adhering auxiliary mechanism (80), which includes an anti-slip cover (81) covering the outside of the wheel of the crawler (10), a magnetic ring (82) built into the protective cover (71), and the magnetic ring (82) surrounds the outside of the wheel of the crawler (10).

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