A radar detection vehicle behind the tunnel wall

Abstract

The present invention provides a radar detection vehicle behind a tunnel wall, and relates to the field of detection behind a tunnel wall. The radar detection vehicle comprises a mobile body, a main base, a main controller, a first telescopic rod and a second telescopic rod, the main base and the main controller are arranged on the mobile body, a rotation drive device is installed on the main base, the first telescopic rod is connected to one end of the rotation drive device, and the second telescopic rod is connected to the other end of the rotation drive device; the two telescopic rods are respectively provided with telescopic drivers, and the ends of the two telescopic rods are respectively provided with geological radar components, and the geological radar components include a geological radar antenna and a distance detection element; the main controller is electrically connected to the distance detection element and the telescopic driver, respectively, the distance detection element is used to detect the distance between the geological radar antenna and the tunnel wall, and the main controller is used to receive the distance signal and control the telescopic driver to work, so that the geological radar antenna and the tunnel wall maintain a set distance range, thereby achieving detection accuracy and travel stability.

Description

Technical Field

[0001] The invention relates to the technical field of tunnel wall rear detection, in particular to a tunnel wall rear radar detection vehicle. Background Art

[0002] At present, radar detection behind the tunnel wall generally adopts the method of manual support poles or on-site trolleys for in-hole detection. However, on-site detection requires a large number of operators, and there are many problems such as unstable data collection, low detection accuracy, and poor safety.

[0003] For example, the Chinese invention patent application with application publication number CN111025418A and application publication date 2020.04.17 discloses a mobile intelligent detection equipment and operation method of a rail transit tunnel geological radar, and specifically discloses that the detection equipment includes an engineering vehicle, a control console, a plurality of rotating and telescopic devices, a retractable slide device, a radar antenna detection device and a laser detection device; the control console controls the working state of the rotating and telescopic device, and the radar antenna detection device is installed at the end of each rotating and telescopic device using a retractable slide device. Under the control of the control console, the rotating and telescopic device rotates to adjust the working angle and working posture of the radar antenna detection device installed on the retractable slide device to maintain the specified distance between the radar antenna and the tunnel lining wall required for the detection; a laser detection device is also installed on each rotating and telescopic device.

[0004] The existing mobile intelligent detection equipment of the rail transit tunnel geological radar uses a laser detection device installed on an engineering vehicle to detect whether there are obstacles on the inner wall of the tunnel and control the radar detection device to avoid obstacles.

[0005] However, when conducting inspections in a tunnel, the radar antenna is required to maintain an appropriate distance from the tunnel wall. Existing devices cannot ensure that the radar detection device can automatically restore the detection position after avoiding obstacles. In addition, the radar detection device may affect the balance of the entire vehicle when avoiding obstacles, and it is impossible to take into account both the accuracy of the inspection and the stability of the vehicle's movement. Summary of the invention

[0006] In order to solve the above problems, the purpose of the present invention is to provide a radar detection vehicle behind the tunnel wall to solve the problem that the existing device cannot ensure that the radar detection device can automatically restore the detection position after avoiding obstacles, and the radar detection device may affect the balance of the entire vehicle when avoiding obstacles, and cannot take into account both detection accuracy and vehicle travel stability.

[0007] The technical solution of the tunnel wall rear radar detection vehicle of the present invention is:

[0008] The tunnel wall rear radar detection vehicle comprises a mobile body, a main base, a main controller, a first telescopic rod and a second telescopic rod, wherein the main base and the main controller are arranged on the mobile body, and the first telescopic rod and the second telescopic rod are respectively hingedly mounted on the main base;

[0009] A rotation drive device is installed on the main base, and a rotation axis of the rotation drive device is arranged along the front-rear direction of the mobile vehicle body. The first telescopic rod is connected to one end of the rotation drive device to form a first fan-shaped detection area on one side of the main base, and the second telescopic rod is connected to the other end of the rotation drive device to form a second fan-shaped detection area on the other side of the main base.

[0010] The first telescopic rod and the second telescopic rod are respectively provided with a telescopic driver, and the ends of the first telescopic rod and the second telescopic rod are respectively provided with a geological radar component, and the geological radar component includes a geological radar antenna and a distance detection element;

[0011] The main controller is electrically connected to the distance detection element and the telescopic driver respectively. The distance detection element is used to detect the distance between the geological radar antenna and the tunnel wall. The main controller is used to receive the distance signal and control the telescopic driver to operate so that the geological radar antenna and the tunnel wall maintain a set distance range.

[0012] A driving motor and a driving wheel group are installed on the mobile body, and the driving motor is drivingly connected to the driving wheel group. The mobile body is also provided with a cantilever structure, and an auxiliary wheel group is rotatably installed at the end of the cantilever structure. The auxiliary wheel group is distributed on the outside of the driving wheel group.

[0013] Furthermore, the set distance range between the geological radar antenna and the tunnel wall is 10 mm to 30 mm. When the actual distance detected by the distance detection element is less than 10 mm, the main controller controls the telescopic drive to shorten the rod; when the actual distance detected by the distance detection element is greater than 30 mm, the main controller controls the telescopic drive to extend the rod.

[0014] Furthermore, the mobile vehicle body is also equipped with a synchronous wheel, a mileage meter element and a radar host, the synchronous wheel is frictionally and rollingly matched with the driving wheel set or the auxiliary wheel set, and the mileage meter element and the radar host are electrically connected to the main controller respectively;

[0015] The odometer element is used to detect the rolling stroke of the synchronous wheel and send the detected stroke signal to the main controller; the main controller is used to receive the stroke signal and store the stroke data in the radar host;

[0016] The geological radar antenna is electrically connected to the main controller, and is used to detect the geological conditions behind the tunnel wall and send the detected geological signals to the main controller;

[0017] The main controller is used to receive geological signals and store geological data in the radar host, and the geological data detected by the geological radar antenna corresponds to the travel data detected by the odometer element to determine the defect location during data processing.

[0018] Furthermore, the outline shape of the moving body is a rectangle, the cantilever structure includes four cantilever arms, the four cantilever arms are respectively fixedly connected to the wide side ends of the moving body, and the moving body and the four cantilever arms form an I-shaped body structure.

[0019] Furthermore, the projection profile of the main base in the front-rear direction of the mobile body is an isosceles trapezoid, the upper side surface of the main base corresponds to the upper base of the isosceles trapezoid, and the lower side surface of the main base corresponds to the lower base of the isosceles trapezoid;

[0020] The rotation drive device is installed on the upper part of the main base. A first power supply is also provided inside the main base. The first power supply is electrically connected to the rotation drive device and the telescopic driver respectively.

[0021] Further, a first connecting seat is fixedly mounted at one end of the rotary drive device, the first connecting seat comprises a positioning plate and a clamp, the plate surface of the positioning plate is arranged perpendicular to the rotation axis of the rotary drive device, and the clamp is detachably connected to the positioning plate to fasten and assemble the first telescopic rod;

[0022] A second connecting seat is fixedly mounted on the other end of the rotary drive device, and the second connecting seat has the same structure as the first connecting seat so as to fasten and assemble the second telescopic rod.

[0023] Furthermore, a stop plate is fixedly connected to the outer side of the positioning plate, a positioning hole is opened on one side of the positioning plate, a plurality of adjustment holes are arranged on one side of the main base, the plurality of adjustment holes are spaced apart along the arc direction, and fastening bolts are detachably connected between the positioning holes and the adjustment holes.

[0024] Furthermore, the end of the first telescopic rod is hingedly connected to a first mounting seat, the hinge axis of the first mounting seat extends along the front and rear direction of the mobile body, the geological radar assembly is installed on the first mounting seat, and the detection direction of the geological radar antenna and the detection direction of the distance detection element are arranged away from the end of the first telescopic rod.

[0025] Further, a first support is fixed to the end of the first telescopic rod, a hinge shaft is connected between the first support and the first mounting seat, the first support is provided with a marking hole and a locking hole, and the first mounting seat is provided with a plurality of marking lines and a plurality of limit holes;

[0026] The multiple calibration lines are spaced apart along the arc line direction to display the rotation angle of the first mounting seat when the calibration hole is aligned with the calibration line; the multiple limit holes are spaced apart along the arc line direction, and a locking bolt is connected between the locking hole and the corresponding limit hole.

[0027] Furthermore, a main motor, a control panel and a second power supply are installed on the mobile body, and the main controller is electrically connected to the main motor, the control panel and the second power supply respectively. The main controller is used to receive a setting signal from the control panel and control the start and stop and power of the main motor according to the setting signal.

[0028] Beneficial effects: The tunnel wall rear radar detection vehicle adopts a design of a mobile body, a main base, a main controller, a first telescopic rod and a second telescopic rod. The mobile body serves as a mobile carrying platform, the main base and the main controller are both arranged on the mobile body, the first telescopic rod and the second telescopic rod are respectively hinged to the main base through a rotating drive device, and the rotation axis thereof extends along the front and rear directions of the mobile body. The first telescopic rod is located on one side of the main base to form a first fan-shaped detection area, and the second telescopic rod is located on the other side of the main base to form a second fan-shaped detection area. The geological radar antenna at the end of the telescopic rod is used to detect the grouting density behind the tunnel wall. The mobile body moves in the tunnel to achieve the purpose of continuous detection operations.

[0029] Among them, the two telescopic rods are respectively provided with a telescopic driver, and the ends of the telescopic rods are also provided with a distance detection element. The main controller is electrically connected to the distance detection element and the telescopic driver respectively. The distance detection element detects the distance between the geological radar antenna and the tunnel wall in real time. The main controller receives the distance signal and controls the telescopic driver to work according to the actual distance. The length of the two telescopic rods is adjusted according to the dynamic distance, so that the geological radar antenna and the tunnel wall maintain a set distance range, which can not only realize automatic obstacle avoidance action, but also ensure that the radar detection distance is maintained within the set distance range; moreover, the telescopic action of the two telescopic rods will not change the detection position in the circumferential direction of the tunnel wall, which improves the detection accuracy and reliability behind the tunnel wall.

[0030] A driving motor and a driving wheel group are installed on the mobile body, and the driving motor is connected to the driving wheel group in a transmission manner to ensure that the mobile body can autonomously and continuously move along the direction of the tunnel; the mobile body is also provided with a cantilever structure, and an auxiliary wheel group is rotatably installed at the end of the cantilever structure. The auxiliary wheel group is distributed on the outside of the driving wheel group. The auxiliary wheel group is utilized to expand the supporting surface of the mobile body. The auxiliary wheel group can balance the torque generated by the telescopic rod and the geological radar assembly, thereby improving the balance of the entire vehicle during travel detection and achieving the purpose of detection accuracy and vehicle travel stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic front view of a radar detection vehicle behind a tunnel wall in a specific embodiment of the radar detection vehicle behind a tunnel wall of the present invention;

[0032] Figure 2 A schematic side view of a tunnel wall rear radar detection vehicle in a specific embodiment of the tunnel wall rear radar detection vehicle of the present invention;

[0033] Figure 3 It is a top view schematic diagram of a tunnel wall rear radar detection vehicle in a specific embodiment of the tunnel wall rear radar detection vehicle of the present invention;

[0034] Figure 4 It is a structural schematic diagram of a radar detection vehicle (before working in a tunnel) in a specific embodiment of a radar detection vehicle behind a tunnel wall of the present invention;

[0035] Figure 5 It is a structural schematic diagram of a radar detection vehicle (in a detection state in a tunnel) in a specific embodiment of a radar detection vehicle behind a tunnel wall of the present invention;

[0036] Figure 6 It is a structural schematic diagram of a radar detection vehicle (in detection state 2 in a tunnel) in a specific embodiment of a radar detection vehicle behind a tunnel wall of the present invention;

[0037] Figure 7 It is a schematic diagram of the assembly of the first connecting seat in a specific embodiment of the tunnel wall rear radar detection vehicle of the present invention;

[0038] Figure 8 It is a schematic diagram of the assembly of the geological radar component in a specific embodiment of the tunnel wall rear radar detection vehicle of the present invention.

[0039] In the figure: 1 - mobile body, 10 - cantilever arm, 11 - driving wheel set, 12 - auxiliary wheel set, 13 - control panel, 14 - synchronous wheel, 15 - radar host;

[0040] 2-main base, 20-rotation drive device, 21-first connecting seat, 22-positioning plate, 23-clamp, 24-stop plate, 25-positioning hole, 26-adjusting hole;

[0041] 3-first telescopic rod, 31-first support, 32-alignment hole, 33-locking hole, 4-second telescopic rod;

[0042] 5 - geological radar assembly, 50 - geological radar antenna, 51 - distance detection element, 52 - first mounting seat, 53 - calibration line, 54 - limit hole. DETAILED DESCRIPTION

[0043] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0044] A specific embodiment 1 of the tunnel wall rear radar detection vehicle of the present invention is as follows: Figures 1 to 8 As shown, the tunnel wall rear radar detection vehicle includes a mobile body 1, a main base 2, a main controller, a first telescopic rod 3 and a second telescopic rod 4. The main base 2 and the main controller are arranged on the mobile body 1, and the first telescopic rod 3 and the second telescopic rod 4 are respectively hingedly installed on the main base 2; a rotating drive device 20 is installed on the main base 2, and the rotating axis of the rotating drive device 20 is arranged along the front and rear direction of the mobile body 1. The first telescopic rod 3 is connected to one end of the rotating drive device 20 to form a first fan-shaped detection area on one side of the main base 2, and the second telescopic rod 4 is connected to the other end of the rotating drive device 20 to form a second fan-shaped detection area on the other side of the main base 2.

[0045] The first telescopic rod 3 and the second telescopic rod 4 are respectively provided with a telescopic drive, and the ends of the first telescopic rod 3 and the ends of the second telescopic rod 4 are respectively provided with a geological radar assembly 5, which includes a geological radar antenna 50 and a distance detection element 51; the main controller is electrically connected to the distance detection element 51 and the telescopic drive, respectively, the distance detection element 51 is used to detect the distance between the geological radar antenna 50 and the tunnel wall, and the main controller is used to receive the distance signal and control the telescopic drive to keep the geological radar antenna 50 and the tunnel wall within a set distance range; a driving motor and a driving wheel group 11 are installed on the mobile body 1, and the driving motor is transmission-connected to the driving wheel group 11. The mobile body 1 is also provided with a cantilever structure, and an auxiliary wheel group 12 is rotatably installed at the end of the cantilever structure, and the auxiliary wheel group 12 is distributed on the outside of the driving wheel group 11.

[0046] The tunnel wall rear radar detection vehicle adopts a design form of a mobile body 1, a main base 2, a main controller, a first telescopic rod 3 and a second telescopic rod 4. The mobile body 1 serves as a mobile carrying platform, the main base 2 and the main controller are both arranged on the mobile body 1, the first telescopic rod 3 and the second telescopic rod 4 are respectively hinged on the main base 2 through a rotating drive device 20, and the rotation axis thereof extends along the front and rear direction of the mobile body 1. The first telescopic rod 3 is located on one side of the main base 2 to form a first fan-shaped detection area, and the second telescopic rod 4 is located on the other side of the main base 2 to form a second fan-shaped detection area. The geological radar antenna 50 at the end of the telescopic rod is used to detect the grouting density behind the tunnel wall. The mobile body 1 moves in the tunnel to achieve the purpose of continuous detection operations.

[0047] The two telescopic rods are respectively provided with a telescopic driver, and the ends of the telescopic rods are also provided with a distance detection element 51. The main controller is electrically connected to the distance detection element 51 and the telescopic driver respectively. The distance detection element 51 detects the distance between the geological radar antenna 50 and the tunnel wall in real time. The main controller receives the distance signal and controls the telescopic driver to work according to the actual distance. The length of the two telescopic rods is adjusted according to the dynamic distance, so that the geological radar antenna 50 and the tunnel wall are kept within the set distance range, which can not only realize the automatic obstacle avoidance action, but also ensure that the radar detection distance is maintained within the set distance range; moreover, the telescopic action of the two telescopic rods will not change the detection position in the circumferential direction of the tunnel wall, which improves the detection accuracy and reliability behind the tunnel wall.

[0048] A driving motor and a driving wheel group 11 are installed on the mobile body 1. The driving motor is connected to the driving wheel group 11 in a transmission manner to ensure that the mobile body 1 can autonomously and continuously move along the tunnel direction. The mobile body 1 is also provided with a cantilever structure. An auxiliary wheel group 12 is rotatably installed at the end of the cantilever structure. The auxiliary wheel group 12 is distributed on the outside of the driving wheel group 11. The auxiliary wheel group 12 is used to expand the supporting surface of the mobile body 1. The auxiliary wheel group 12 can balance the torque generated by the telescopic rod and the geological radar assembly 5, thereby improving the balance of the entire vehicle during travel detection and achieving the purpose of detection accuracy and vehicle travel stability.

[0049] In this embodiment, the set distance range between the geological radar antenna 50 and the tunnel wall is 10 mm to 30 mm. When the actual distance detected by the distance detection element 51 is less than 10 mm, the main controller controls the telescopic driver to shorten the rod; when the actual distance detected by the distance detection element 51 is greater than 30 mm, the main controller controls the telescopic driver to extend the rod, ensuring that the distance between the geological radar antenna 50 and the tunnel wall is always maintained within the set distance range of 10 mm to 30 mm, thereby improving the detection accuracy of the geological radar antenna 50.

[0050] As a further preferred solution, the mobile body 1 is also equipped with a synchronous wheel 14, a odometer element and a radar host 15. The synchronous wheel 14 and the auxiliary wheel group 12 are frictionally rolled together, and the odometer element and the radar host 15 are electrically connected to the main controller respectively; the odometer element is used to detect the rolling stroke of the synchronous wheel 14, and send the detected stroke signal to the main controller; the main controller is used to receive the stroke signal and store the stroke data in the radar host 15; the geological radar antenna 50 is electrically connected to the main controller, and the geological radar antenna 50 is used to detect the geological conditions behind the tunnel wall, and send the detected geological signal to the main controller; the main controller is used to receive the geological signal and store the geological data in the radar host 15, and the geological data detected by the geological radar antenna 50 corresponds to the stroke data detected by the odometer element, so as to determine the defect location during data processing.

[0051] The outline shape of the mobile body 1 is rectangular, and the cantilever structure includes four cantilever arms 10, such as Figure 3 As shown, four cantilever arms 10 are respectively fixedly connected to the wide side ends of the mobile body 1, and the mobile body 1 and the four cantilever arms 10 form an I-shaped body structure. The mobile body 1 and the four cantilever arms 10 adopt the design style of the I-shaped body structure, which effectively expands the fulcrum position outward, ensuring that the mobile body 1 can move smoothly relative to the track or the ground. Among them, the mobile body 1 and the driving wheel group 11 are connected by a rotating shaft and a flange, and correspondingly, the cantilever arm 10 and the corresponding auxiliary wheel group 12 are connected by a rotating shaft and a flange, and the flange and the wheel hub are detachably connected by bolts, which is convenient for disassembling and replacing rail wheels and trackless wheels to adapt to different rail conditions and trackless conditions.

[0052] In addition, the projection profile of the main base 2 in the front-to-back direction of the mobile body 1 is an isosceles trapezoid, the upper side of the main base 2 corresponds to the upper base of the isosceles trapezoid, and the lower side of the main base 2 corresponds to the lower base of the isosceles trapezoid; the rotation drive device 20 is installed on the upper part of the main base 2, and the main base 2 is also provided with a first power supply inside, which is electrically connected to the rotation drive device 20 and the telescopic drive. The main base 2 is designed in an isosceles trapezoidal style, which improves the connection reliability between the main base 2 and the mobile body 1 and meets the structural strength and support stability required by the two telescopic rods.

[0053] In the present embodiment, a first connecting seat 21 is installed at one end of the rotary drive device 20 to stop rotation. The first connecting seat 21 includes a positioning plate 22 and a clamp 23. The plate surface of the positioning plate 22 is arranged perpendicular to the rotation axis of the rotary drive device 20. The clamp 23 is detachably connected to the positioning plate 22 to fasten and assemble the first telescopic rod 3; correspondingly, a second connecting seat is installed at the other end of the rotary drive device 20 to stop rotation. The second connecting seat has the same structure as the first connecting seat so that the second telescopic rod can be fastened and assembled through the second connecting seat.

[0054] Among them, the outer side of the positioning plate 22 of the first connecting seat 21 is also fixedly connected with a stop plate 24, and the positioning plate 22 is provided with a positioning hole 25 on one side of the stop plate 24. A plurality of adjustment holes 26 are arranged on one side of the main base 2, and the plurality of adjustment holes 26 are spaced apart along the arc line direction. A fastening bolt is detachably connected between the positioning hole 25 of the positioning plate 22 and the adjustment hole 26 of the main base 2. When detecting different positions of the tunnel wall, the first connecting seat 21 and the first telescopic rod 3 are driven to rotate by the rotating drive device 20 until the geological radar antenna 50 of the first telescopic rod 3 corresponds to the detection position. At this time, a fastening bolt is used to pass between the positioning hole 25 and the adjustment hole 26 to lock and fix the first connecting seat 21, thereby ensuring that the first telescopic rod 3 does not swing arbitrarily.

[0055] In this embodiment, the end of the first telescopic rod 3 is hingedly connected with a first mounting seat 52, the hinge axis of the first mounting seat 52 is extended along the front-rear direction of the mobile body 1, the geological radar assembly 5 is installed on the first mounting seat 52, and the detection direction of the geological radar antenna 50 and the detection direction of the distance detection element 51 are set away from the end of the first telescopic rod 3. The angle of the first mounting seat 52 is adaptively adjusted according to actual conditions, so as to ensure that after the telescopic rod is rotated by a certain angle, the detection direction of the geological radar antenna 50 can be adjusted to face the tunnel wall.

[0056] In addition, a first support 31 is fixed to the end of the first telescopic rod 3, a hinge axis is connected between the first support 31 and the first mounting seat 52, the first support 31 is provided with a marking hole 32 and a locking hole 33, and the first mounting seat 52 is provided with a plurality of calibration lines 53 and a plurality of limiting holes 54; the plurality of calibration lines 53 are spaced along the arc direction to display the rotation angle of the first mounting seat 52 when the marking hole 32 is aligned with the calibration line 53; the plurality of limiting holes 54 are spaced along the arc direction, and a locking bolt is connected between the locking hole 33 and the corresponding limiting hole 54. The angle of the first mounting seat 52 can be accurately adjusted and the deflection angle can be directly displayed. After adjustment, the position of the first mounting seat 52 can be effectively locked, thereby improving the stability of the geological radar assembly 5 relative to the first telescopic rod 3.

[0057] In addition, the mobile body 1 is equipped with a main motor, a control panel 13 and a second power supply. The main controller is electrically connected to the main motor, the control panel 13 and the second power supply respectively. The main controller is used to receive the setting signal of the control panel 13, and control the start and stop and power of the main motor according to the setting signal, so as to realize the functions of controlling the forward, backward, braking, acceleration and deceleration of the whole vehicle. Distance detection elements 51 are respectively provided on both sides of the geological radar antenna 50, and the ends of the distance detection elements 51 are protrudingly arranged on the outside of the geological radar antenna 50. The mobile body 1 is also equipped with a wireless signal receiver, and the mobile body 1 is equipped with a remote control set, through which the working state of the whole vehicle can be remotely controlled.

[0058] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A radar detection vehicle behind a tunnel wall, characterized in that: It includes a mobile body, a main base, a main controller, a first telescopic rod and a second telescopic rod, wherein the main base and the main controller are arranged on the mobile body, and the first telescopic rod and the second telescopic rod are respectively hingedly installed on the main base; A rotation drive device is installed on the main base, and a rotation axis of the rotation drive device is arranged along the front-rear direction of the mobile vehicle body. The first telescopic rod is connected to one end of the rotation drive device to form a first fan-shaped detection area on one side of the main base, and the second telescopic rod is connected to the other end of the rotation drive device to form a second fan-shaped detection area on the other side of the main base. The first telescopic rod and the second telescopic rod are respectively provided with a telescopic driver, and the ends of the first telescopic rod and the second telescopic rod are respectively provided with a geological radar component, and the geological radar component includes a geological radar antenna and a distance detection element; The main controller is electrically connected to the distance detection element and the telescopic driver respectively. The distance detection element is used to detect the distance between the geological radar antenna and the tunnel wall. The main controller is used to receive the distance signal and control the telescopic driver to operate so that the geological radar antenna and the tunnel wall maintain a set distance range. The mobile vehicle body is provided with a driving motor and a driving wheel set, wherein the driving motor is in driving connection with the driving wheel set, and the mobile vehicle body is further provided with a cantilever structure, wherein an auxiliary wheel set is rotatably mounted on the end of the cantilever structure, and the auxiliary wheel set is distributed on the outer side of the driving wheel set; The mobile vehicle body is also equipped with a synchronous wheel, a mileage meter element and a radar host, the synchronous wheel is in frictional rolling cooperation with the driving wheel set or the auxiliary wheel set, and the mileage meter element and the radar host are electrically connected to the main controller respectively; The odometer element is used to detect the rolling stroke of the synchronous wheel and send the detected stroke signal to the main controller; the main controller is used to receive the stroke signal and store the stroke data in the radar host; The geological radar antenna is electrically connected to the main controller, and is used to detect the geological conditions behind the tunnel wall and send the detected geological signals to the main controller; The main controller is used to receive geological signals and store geological data in the radar host, and the geological data detected by the geological radar antenna corresponds to the travel data detected by the odometer element to determine the defect location during data processing; The outline shape of the moving vehicle body is a rectangle, the cantilever structure includes four cantilever arms, the four cantilever arms are respectively fixedly connected to the wide side ends of the moving vehicle body, and the moving vehicle body and the four cantilever arms form an I-shaped vehicle body structure; The set distance between the geological radar antenna and the tunnel wall ranges from 10 mm to 30 mm. When the actual distance detected by the distance detection element is less than 10 mm, the main controller controls the telescopic driver to shorten the rod; when the actual distance detected by the distance detection element is greater than 30 mm, the main controller controls the telescopic driver to extend the rod; The end of the first telescopic rod is hingedly connected to a first mounting seat, the hinge axis of the first mounting seat is extended along the front-rear direction of the mobile vehicle body, the geological radar component is installed on the first mounting seat, and the detection direction of the geological radar antenna and the detection direction of the distance detection element are arranged away from the end of the first telescopic rod; A first support is fixed to the end of the first telescopic rod, a hinge shaft is connected between the first support and the first mounting seat, the first support is provided with a marking hole and a locking hole, and the first mounting seat is provided with a plurality of marking lines and a plurality of limit holes; The multiple calibration lines are spaced apart along the arc line direction to display the rotation angle of the first mounting seat when the calibration hole is aligned with the calibration line; the multiple limit holes are spaced apart along the arc line direction, and a locking bolt is connected between the locking hole and the corresponding limit hole.

2. The tunnel wall rear radar detection vehicle according to claim 1, characterized in that: The projection profile of the main base in the front-rear direction of the mobile body is an isosceles trapezoid, the upper side surface of the main base corresponds to the upper base of the isosceles trapezoid, and the lower side surface of the main base corresponds to the lower base of the isosceles trapezoid; The rotation drive device is installed on the upper part of the main base. A first power supply is also provided inside the main base. The first power supply is electrically connected to the rotation drive device and the telescopic driver respectively.

3. The tunnel wall rear radar detection vehicle according to claim 1, characterized in that: A first connecting seat is fixedly mounted at one end of the rotary drive device, the first connecting seat comprising a positioning plate and a clamping member, the plate surface of the positioning plate is arranged perpendicular to the rotation axis of the rotary drive device, and the clamping member is detachably connected to the positioning plate to fasten and assemble the first telescopic rod; A second connecting seat is fixedly mounted on the other end of the rotary drive device, and the second connecting seat has the same structure as the first connecting seat so as to fasten and assemble the second telescopic rod.

4. The tunnel wall rear radar detection vehicle according to claim 3 is characterized in that: A stop plate is also fixedly connected to the outer side of the positioning plate, a positioning hole is opened on one side of the positioning plate, a plurality of adjustment holes are arranged on one side of the main base, the plurality of adjustment holes are spaced apart along the arc direction, and fastening bolts are detachably connected between the positioning holes and the adjustment holes.

5. The tunnel wall rear radar detection vehicle according to claim 1, characterized in that: A main motor, a control panel and a second power supply are installed on the mobile body. The main controller is electrically connected to the main motor, the control panel and the second power supply respectively. The main controller is used to receive a setting signal from the control panel and control the start and stop and power of the main motor according to the setting signal.

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