A ground penetrating radar based road detection device and method

Abstract

The application provides a road detection device and method based on ground penetrating radar, belonging to the technical field of radar detection. The device comprises: a first ground penetrating radar installed between a pair of L-shaped support plates, two pairs of rotating shafts connected to the outside of the L-shaped support plates; a pair of second ground penetrating radars, each installed between a pair of mounting brackets, each mounting bracket provided with a rotating rod on one side, the rotating rod provided with a protrusion, the bottom of the rotating rod provided with a straight slot, the two pairs of rotating shafts respectively arranged in the two pairs of straight slots, each rotating shaft provided with a guide disc at one end, the guide disc provided with an arc-shaped groove and a horizontal groove on the inner side, each rotating rod provided with a guide column on the outer side, the guide column slidingly connected to the arc-shaped groove, two pairs of sliding sleeves slidingly connected to the two ends of two slide rods, each sliding sleeve provided with a push block through a connecting plate at the outer end; a bidirectional telescopic mechanism connected to the two pairs of sliding sleeves; and a folding mechanism connected to the mounting bracket. The device can simultaneously detect the road through three ground penetrating radars, and two of the ground penetrating radars can be folded to avoid obstacles.

Description

Technical Field

[0001] This invention belongs to the field of radar detection technology, and is particularly related to a road detection device and detection method based on ground penetrating radar. Background Technology

[0002] Ground-penetrating radar (GPR) is a non-destructive and rapid detection technology that uses electromagnetic wave reflection to determine the distribution of underground media, and it has become the preferred method for road defect detection. Existing GPR road detection devices, such as the road cavity GPR detection device disclosed in utility model patent CN218383295U, typically mount the GPR module in a fixed frame with wheels. During use, the fixed frame is manually pushed or connected to the rear of a tractor to detect deep road defects along a straight line. When using this device, if the road surface to be detected is wide, multiple back-and-forth movements of the fixed frame are required to cover the entire road surface and complete the detection. Although the detection range can be increased by increasing the size of the GPR, the movement of a larger GPR module is restricted when moving from a wide road surface to a narrow road surface or encountering obstacles during the detection process. Therefore, improvements are necessary. Summary of the Invention

[0003] To address the aforementioned deficiencies in the prior art, this application provides a road detection device and method based on ground-penetrating radar, which can simultaneously perform road detection using three ground-penetrating radars, two of which can be retracted to avoid obstacles.

[0004] To achieve the above objectives, the present invention employs the following techniques:

[0005] A road detection device based on ground-penetrating radar includes:

[0006] The first ground-penetrating radar is installed between a pair of L-shaped support plates. A fixed plate is provided above the L-shaped support plates. The two ends of the first ground-penetrating radar are aligned with the two ends of the L-shaped support plates. Two pairs of rotating shafts are vertically connected to the outer side of the pair of L-shaped support plates. A pair of first rollers are provided at the bottom of each L-shaped support plate.

[0007] A pair of second ground-penetrating radars are installed between two pairs of mounting brackets. Each pair of mounting brackets has a rotating rod on the outside, with a protrusion on one side of the rotating rod. The bottom of the rotating rod has a straight slot that matches the size of the rotating shaft. The two pairs of rotating shafts are respectively inserted into the two pairs of straight slots. The outer end of each rotating shaft is connected to a guide plate. The inner side of the guide plate has an arc-shaped groove with the same axis as the rotating shaft and a transverse groove with the same height as the rotating shaft. The end of the transverse groove away from the L-shaped support plate is connected to the bottom of the arc-shaped groove. The outer side of each rotating rod has a guide post, which is slidably connected in the arc-shaped groove. One end of the second ground-penetrating radar is aligned with the end of the mounting bracket near the fixed plate.

[0008] Two pairs of sliding sleeves are slidably connected to the two ends of two sliding rods, and the two sliding rods are horizontally fixed to both sides of a pair of L-shaped support plates. The outer ends of the sliding sleeves are connected to push blocks through connecting plates.

[0009] A bidirectional telescopic mechanism, connected to two pairs of sliding sleeves, is used to drive the two pairs of sliding sleeves to move in the same or opposite directions along the slide rod;

[0010] The retraction mechanism, connected to the mounting bracket, is used to drive the rotating rod to rotate around the corresponding rotating shaft. When the guide post is in the arc groove, the rotating shaft is at the bottom of the straight groove. When the rotating rod rotates downward to the horizontal state, the protrusion is between the corresponding push block and the sliding sleeve.

[0011] Furthermore, the mounting bracket is U-shaped and has a first support block inside. The second ground-penetrating radar has a second support block on both sides. The bottom of the second support block abuts against the first support block. The other end of the second ground-penetrating radar has a fixing rod. The fixing rod is located between a pair of mounting brackets, and both ends of the fixing rod are connected to the mounting bracket by screws.

[0012] Furthermore, a second roller is provided at one end of the mounting bracket near the fixed rod. When the rotating rod is rotated downwards to a horizontal state, the bottom height of the second roller is the same as the bottom height of the first roller.

[0013] Furthermore, the bidirectional telescopic mechanism includes a linear mechanism, a first push rod, and two pairs of strip frames. The fixed end of the linear mechanism is fixed in a first fixed frame, and the moving end moves vertically downward. The first push rod is connected to the moving end of the linear mechanism, and the length direction of the first push rod is parallel to the axis of rotation. Each pair of strip frames is staggered, and the bottom of each pair of strip frames is connected to two pairs of sliding sleeves. The two ends of the first push rod pass through the two pairs of strip frames respectively. When the telescopic end of the linear mechanism is pushed out downward, the first push rod pushes the two pairs of strip frames to move in opposite directions. When the telescopic end of the linear mechanism is retracted, the first push rod pushes the two pairs of strip frames to move in opposite directions respectively.

[0014] Furthermore, the top of the fixed plate is provided with two pairs of stop bars. When the rotating rod is rotated upward to a vertical position, the two pairs of mounting brackets abut against the two pairs of rotating rods respectively.

[0015] Furthermore, the take-up and release mechanism includes a pair of take-up and release wheels and a pair of mounting seats. The pair of take-up and release wheels are mounted on the pair of mounting seats in opposite directions. The axial direction of the take-up and release wheels is parallel to the axial direction of the rotating shaft. Each take-up and release wheel is connected to a pull rope. The two pull ropes are connected to two fixed rods through a pair of fixed buckles.

[0016] Furthermore, a pair of take-up and take-down wheels are rotatably connected to a pair of mounting seats via two connecting shafts, and the two connecting shafts pass through the inner side of the two mounting seats and are connected to two second bevel gears. The bottom of each of the two second bevel gears is meshed with a first bevel gear. The first bevel gear is connected to the output shaft of a motor. The output shaft of the motor is perpendicular to the fixed plate. The motor is fixed in a second fixed frame, which is located above the first fixed frame.

[0017] Furthermore, a push post is inserted through the top of the stop rod. The length direction of the push post is parallel to the length direction of the sliding sleeve. The inward end of the push post is connected to a spring through a connecting piece. The spring is sleeved outside the push post, and the end of the spring near the stop rod is connected to the stop rod.

[0018] Furthermore, one of the L-shaped support plates has a connecting rod spaced apart on its outer side for connecting to the guide vehicle, and the other L-shaped support plate has a second push rod connected to its outer side via a pair of upwardly inclined rods.

[0019] A road detection method based on ground-penetrating radar, using the aforementioned detection device, includes the following steps:

[0020] S1. Connect an L-shaped support plate to the rear of the tractor;

[0021] S2. The two second ground-penetrating radars are lowered to a horizontal position through the retraction mechanism, and the two pairs of sliding sleeves are moved inward by the bidirectional telescopic mechanism to push the two second ground-penetrating radars to abut against the two ends of the first ground-penetrating radar.

[0022] S3. Activate the first and second ground-penetrating radars, and control the tractor to move the detection device to detect road defects;

[0023] S4. When the road to be detected narrows or encounters an obstacle, the two pairs of sliding sleeves are moved outward by the bidirectional telescopic mechanism, so that the guide column reaches the end where the transverse groove and the arc groove are connected. Then, the two second ground-penetrating radars are rotated upward to the vertical state by the retraction mechanism.

[0024] The beneficial effects of this invention are as follows:

[0025] 1. It can simultaneously perform road detection using a first ground-penetrating radar and two second ground-penetrating radars. There are no gaps between adjacent ground-penetrating radars, which can avoid some roads not being covered during detection, thus affecting the integrity of the detection. In addition, the two second ground-penetrating radars can be rotated upwards to retract under the drive of the retraction mechanism to avoid obstacles, making it highly practical.

[0026] 2. By using a linear mechanism, one power source in conjunction with two pairs of strip frames can simultaneously drive two pairs of sliding sleeves to move synchronously, thus avoiding the asynchronous situation that occurs when multiple power sources drive two pairs of sliding sleeves.

[0027] 3. A motor, in conjunction with the first and second bevel gears, can simultaneously drive the two launch and take-up wheels to rotate in opposite directions, thereby enabling the launch and take-up of the two second ground-penetrating radars. Attached Figure Description

[0028] Figure 1 This is a perspective view of the overall structure of the device according to an embodiment of this application.

[0029] Figure 2 This is a side view of a portion of the structure of the device according to an embodiment of this application.

[0030] Figure 3 This is a perspective view of the connection structure of the mounting frame, rotating rod, and guide plate in the device of this application embodiment.

[0031] Figure 4 This is an exploded view of a portion of the structure in the device according to an embodiment of this application.

[0032] Figure 5 This is a perspective view of the overall structure of the device according to an embodiment of this application.

[0033] Figure 6 This is a perspective view of the structure of the second ground-penetrating radar being lowered and abutting against the first ground-penetrating radar in the device of this application embodiment.

[0034] Figure 7 for Figure 6 Enlarged view of section A in the middle.

[0035] Figure 8 This is a top view of the device according to an embodiment of this application.

[0036] Figure 9 This is a perspective view of the connection structure between the take-up and release wheels and the mounting base motor in the device of this application embodiment.

[0037] Figure 10 This is a perspective view of the connection structure between the push column and the stop bar in the device of this application embodiment.

[0038] Reference numerals: First ground-penetrating radar -1, Second ground-penetrating radar -2, Sliding sleeve -3, Guide plate -4, Bidirectional telescopic mechanism -5, Retraction mechanism -6, Stop bar -7, Connecting rod -8, Second push rod -9, Fixing plate -101, L-shaped support plate -1011, First roller -1012, Rotating shaft -1013, Mounting bracket -201, Rotating rod -202, Fixing rod -203, Second support block -204, First support block -2011, Second roller -2012, Protrusion -2021, Straight groove -2022, Guide column -2 023, Screw-2031, Push Block-301, Slide Rod-302, Arc Groove-401, Horizontal Groove-402, Linear Mechanism-501, First Push Rod-502, Strip Frame-503, First Fixing Frame-504, Retractable Wheel-601, Mounting Base-602, Fixing Buckle-603, Motor-604, Second Fixing Frame-605, Pull Rope-6011, Connecting Shaft-6012, Second Bevel Gear-6013, First Bevel Gear-6041, Push Column-701, Spring-702, Connecting Plate-703. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the implementation methods of the present invention will be described in detail below with reference to the accompanying drawings. However, the embodiments described in this invention are only some embodiments of the present invention, and not all embodiments.

[0040] This application provides a road detection device based on ground-penetrating radar, such as... Figures 1-10 As shown, it includes a first ground-penetrating radar 1, a second ground-penetrating radar 2, a bidirectional telescopic mechanism 5, and a retraction mechanism 6.

[0041] Specifically, the first ground-penetrating radar 1 is installed between a pair of L-shaped support plates 1011. The transverse sections of the L-shaped support plates 1011 are all oriented inward to support the first ground-penetrating radar 1. A fixing plate 101 is provided above the L-shaped support plates 1011, and the first ground-penetrating radar 1 can be fixed to the fixing plate 101 by screws 2031 or pins. Two pairs of rotating shafts 1013 are vertically connected to the outer sides of the pair of L-shaped support plates 1011. A pair of first rollers 1012 are provided at the bottom of each L-shaped support plate 1011. The second ground-penetrating radar 2 is a pair, which are respectively installed on the two pairs of mounting brackets 201. The second ground-penetrating radar 2 is aligned with the end of the mounting bracket 201 near the fixing plate 101. Each pair of mounting brackets 201 has a rotating rod 202 on the side away from the second ground-penetrating radar 2. A protrusion 2021 is provided on one side of the rotating rod 202. A straight groove 2022 matching the size of the rotating shaft 1013 is opened at the bottom of the rotating rod 202. The two pairs of rotating shafts 1013 are respectively inserted into the two pairs of straight grooves 2022. The outward end of each rotating shaft 1013 is connected to a guide plate 4. The inner side of the guide plate 4 has an arc-shaped groove 401 with the same axis as the rotating shaft 1013 and a groove 401 with the same axis as the rotating shaft 1013. A transverse groove 402 of the same height is connected to the bottom of an arc-shaped groove 401 at one end away from the L-shaped support plate 1011. Guide posts 2023 are provided on the outer side of each rotating rod 202, and the guide posts 2023 are slidably connected within the arc-shaped groove 401. The two ends of the first ground-penetrating radar 1 are aligned with the two ends of the L-shaped support plate 1011. Two pairs of sliding sleeves 3 are slidably connected to the two ends of two sliding rods 302, and the two sliding rods 302 are horizontally fixed to both sides of a pair of L-shaped support plates 1011. Push blocks 301 are connected to the outer ends of the sliding sleeves 3 via connecting plates. Specifically, the push blocks 301... The top height is higher than the top height of the connecting plate; the bidirectional telescopic mechanism 5 is connected to two pairs of sliding sleeves 3, which is used to drive the two pairs of sliding sleeves 3 to move in the same or opposite direction along the sliding rod 302, thereby driving the push block 301 to move in the same or opposite direction; the retraction mechanism 6 is connected to the mounting frame 201, which is used to drive the rotating rod 202 to rotate around the corresponding rotating shaft 1013. When the guide post 2023 is in the arc groove 401, the rotating shaft 1013 is at the bottom of the straight groove 2022. When the rotating rod 202 rotates downward to the horizontal state, the protrusion 2021 is between the corresponding push block 301 and the sliding sleeve 3.

[0042] In actual use, road inspection is carried out using the following methods:

[0043] S1. Connect one of the L-shaped support plates 1011 to the rear of the tractor;

[0044] S2. The two second ground-penetrating radars 2 are lowered to a horizontal position by the retraction mechanism 6. During this process, the guide column 2023 will move along the arc groove 401 into the transverse groove 402. The rotating shaft 1013 is always at the bottom of the straight groove 2022, and the protrusion 2021 on one side of the rotating rod 202 will enter between the corresponding push block 301 and the sliding sleeve 3. Then, the two pairs of sliding sleeves 3 are driven to move inward by the bidirectional telescopic mechanism 5. The push block 301 pushes the protrusion 2021, so that the two second ground-penetrating radars 2 are pushed to abut against the two ends of the first ground-penetrating radar 1. This avoids the gap between the first ground-penetrating radar 1 and the second ground-penetrating radar 2, which would lead to incomplete road detection. After the guide column 2023 moves in the transverse groove 402 and leaves the arc groove 401, the transverse groove 402 can restrict the guide column 2023 to rotate around the rotating shaft 1013, which avoids the second ground-penetrating radar 2 shaking up and down during the detection process and affecting the detection accuracy.

[0045] S3. Activate the first ground-penetrating radar 1 and the second ground-penetrating radar 2, and control the tractor to move the detection device to detect road defects;

[0046] S4. When the road to be detected narrows or encounters an obstacle, the two pairs of sliding sleeves 3 are moved outward by the bidirectional telescopic mechanism 5. The sliding sleeves 3 push the corresponding protrusions 2021, so that the guide column 2023 reaches the end where the transverse groove 402 and the arc groove 401 are connected. Then, the two second ground-penetrating radars 2 are rotated upward to a vertical state by the retraction mechanism 6, so that the second ground-penetrating radars 2 can be retracted, making it easier for the detection device to enter the narrow road or avoid obstacles.

[0047] For details, please refer to Figure 3 , Figure 4 The mounting frame 201 is U-shaped, with a first support block 2011 inside. The second ground-penetrating radar 2 has second support blocks 204 on both sides, with the bottom of the second support blocks 204 abutting against the first support blocks 2011. A fixing rod 203 is located at the other end of the second ground-penetrating radar 2, positioned between the two mounting frames 201, and its two ends are connected to the mounting frame 201 by screws 2031. This design facilitates the assembly and disassembly of the second ground-penetrating radar 2, and ensures that the side of the second ground-penetrating radar 2 closest to the fixing plate 101 is unobstructed, preventing a gap between it and the first ground-penetrating radar 1 after lowering. More specifically, a second roller 2012 is located at the end of the mounting frame 201 closest to the fixing rod 203. When the rotating rod 202 rotates downwards to a horizontal position, the bottom height of the second roller 2012 is the same as the bottom height of the first roller 1012, providing support for the end of the second ground-penetrating radar 2 away from the fixing plate 101, improving the stability of the device during movement.

[0048] Preferred options, please refer to Figures 5-7The bidirectional telescopic mechanism 5 includes a linear mechanism 501, a first push rod 502, and two pairs of strip frames 503. The fixed end of the linear mechanism 501 is fixed within a first fixed frame 504, and the moving end of the linear mechanism 501 moves vertically downwards. The first push rod 502 is connected to the moving end of the linear mechanism 501, and its length is parallel to the axial direction of the rotating shaft 1013. Each pair of strip frames 503 is staggered, and the bottoms of the two pairs of strip frames 503 are respectively fixedly connected to two pairs of sliding sleeves 3. The two ends of the first push rod 502 pass through the two pairs of strip frames 503 respectively. (See reference...) Figure 6 When the telescopic end of the linear mechanism 501 is pushed downward, the first push rod 502 pushes the two pairs of strip frames 503 to move towards each other, thereby causing the two pairs of sliding sleeves 3 to move towards each other. (See reference...) Figure 5 When the telescopic end of the linear mechanism 501 retracts, the first push rod 502 pushes the two pairs of strip frames 503 to move in opposite directions, thereby driving the two pairs of sliding sleeves 3 to move in opposite directions. The linear mechanism 501 can drive the two pairs of sliding sleeves 3 to move synchronously at the same time through a single power source, which can avoid the situation of asynchrony caused by driving the two pairs of sliding sleeves 3 through multiple power sources.

[0049] For details, please refer to Figure 5 , Figure 8 The top of the fixed plate 101 is provided with two pairs of stop bars 7. When the rotating rod 202 rotates upward to the vertical position, the two pairs of mounting brackets 201 respectively abut against the two pairs of rotating rods 202 to limit the maximum upward rotation angle of the rotating rod 202 and the second ground penetrating radar 2.

[0050] For details, please refer to Figure 5 , Figure 8 One of the L-shaped support plates 1011 has a connecting rod 8 spaced apart on its outer side, which is used to guide the rear of the vehicle to connect when the detection device is towed by the guide vehicle. The other L-shaped support plate 1011 has a second push rod 9 connected to its outer side by a pair of upwardly inclined tilting rods. The second push rod 9 is set to a certain height so that it is easy for a person to push the detection device to perform road detection.

[0051] For details, please refer to Figure 6 , Figure 8The retraction mechanism 6 includes a pair of retraction wheels 601 and a pair of mounting seats 602. The retraction wheels 601 are mounted on the mounting seats 602 in opposite directions. The axial direction of the retraction wheels 601 is parallel to the axial direction of the rotating shaft 1013. Each retraction wheel 601 is connected to a pull rope 6011. The two pull ropes 6011 are connected to two fixed rods 203 through a pair of fixing buckles 603. More specifically, the two retraction wheels 601 can be controlled to rotate in opposite directions by two self-locking drive motors 604. The two fixed rods 203 and the two second ground-penetrating radars 2 are pulled up by the two pull ropes 6011. When the second ground-penetrating radars are pulled up to the vertical position, they will be blocked by the stop bar 7 to prevent the second ground-penetrating radars 2 from continuing to tilt inward due to their own weight.

[0052] Preferred options, please refer to Figure 9 A pair of take-up and take-up wheels 601 are rotatably connected to a pair of mounting seats 602 via two connecting shafts 6012. The two connecting shafts 6012 extend through the inner sides of the two mounting seats 602 and connect to two second bevel gears 6013. The bottom of each of the two second bevel gears 6013 meshes with a first bevel gear 6041. The first bevel gear 6041 is connected to the output shaft of a motor 604. The output shaft of the motor 604 is perpendicular to the fixing plate 101. The motor 604 is fixed inside a second fixing frame 605, which is positioned above the first fixing frame 504. Controlling the motor 604 drives the first bevel gear 6041 to rotate, which in turn drives the two second bevel gears 6013 to rotate in the opposite direction, thus achieving synchronous reverse rotation of the two take-up and take-up wheels 601.

[0053] Preferred options, please refer to Figure 10 A push post 701 is inserted through the top of the stop rod 7. The length direction of the push post 701 is parallel to the length direction of the sliding sleeve 3. The inward end of the push post 701 is connected to a spring 702 through a connecting piece 703. The spring 702 is sleeved on the outside of the push post 701, and the end of the spring 702 near the stop rod 7 is connected to the stop rod 7. When the spring 702 is in its natural state, the end of the push post 701 away from the connecting piece 703 protrudes from the side of the stop rod 7 away from the connecting piece 703. When the second ground penetrating radar 2 rotates to the vertical position, the mounting bracket 201 will push the push post 701 inward. At this time, the spring 702 is in a stretched state and will generate a thrust on the push post 701. When the second ground penetrating radar 2 is lowered by the pull rope 6011, the push post 701 can push the mounting bracket 201 and the second ground penetrating radar 2 outward, preventing the second ground penetrating radar 2 in the vertical position from being unable to rotate downward by its own gravity.

[0054] The above description is merely a preferred embodiment of the present invention and is not intended to be the only or limiting of the invention. Those skilled in the art should understand that various changes or equivalent substitutions made to the present invention without departing from its scope are all within the protection scope of the present invention.

Claims

1. A road detection device based on ground-penetrating radar, characterized in that, include: The first ground-penetrating radar (1) is installed between a pair of L-shaped support plates (1011). A fixed plate (101) is provided above the L-shaped support plates (1011). The two ends of the first ground-penetrating radar (1) are aligned with the two ends of the L-shaped support plates (1011). Two pairs of rotating shafts (1013) are vertically connected to the outer side of the pair of L-shaped support plates (1011). A pair of first rollers (1012) are provided at the bottom of each L-shaped support plate (1011). A pair of second ground-penetrating radars (2) are respectively installed between two pairs of mounting brackets (201). Each pair of mounting brackets (201) has a rotating rod (202) on its outer side. A protrusion (2021) is provided on one side of the rotating rod (202). A straight slot (2022) matching the size of the rotating shaft (1013) is opened at the bottom of the rotating rod (202). The two pairs of rotating shafts (1013) are respectively inserted into the two pairs of straight slots (2022). The outward-facing end of each rotating shaft (1013) is connected to a guide plate (4). The guide plate (4) contains... The side is provided with an arc-shaped groove (401) with the same axis as the rotating shaft (1013) and a transverse groove (402) with the same height as the rotating shaft (1013). The end of the transverse groove (402) away from the L-shaped support plate (1011) is connected to the bottom of the arc-shaped groove (401). The outer side of the rotating rod (202) is provided with guide posts (2023). The guide posts (2023) are slidably connected in the arc-shaped groove (401). One end of the second ground-penetrating radar (2) is aligned with the end of the mounting frame (201) near the fixed plate (101). Two pairs of sliding sleeves (3) are slidably connected to the two ends of two sliding rods (302). The two sliding rods (302) are horizontally fixed to both sides of a pair of L-shaped support plates (1011). The outer ends of the sliding sleeves (3) are connected to push blocks (301) through connecting plates. The bidirectional telescopic mechanism (5) is connected to two pairs of sliding sleeves (3) and is used to drive the two pairs of sliding sleeves (3) to move in the same or opposite directions along the sliding rod (302); The retraction mechanism (6) is connected to the mounting bracket (201) and is used to drive the rotating rod (202) to rotate around the corresponding rotating shaft (1013). When the guide column (2023) is in the arc groove (401), the rotating shaft (1013) is at the bottom of the straight groove (2022). When the rotating rod (202) rotates downward to the horizontal state, the protrusion (2021) is between the corresponding push block (301) and the sliding sleeve (3).

2. The road detection device based on ground-penetrating radar according to claim 1, characterized in that, The mounting bracket (201) is U-shaped and has a first support block (2011) inside. The second ground-penetrating radar (2) has a second support block (204) on both sides. The bottom of the second support block (204) abuts against the first support block (2011). The other end of the second ground-penetrating radar (2) has a fixing rod (203). The fixing rod (203) is located between a pair of mounting brackets (201), and both ends of the fixing rod (203) are connected to the mounting bracket (201) by screws (2031).

3. A road detection device based on ground-penetrating radar according to claim 2, characterized in that, The mounting bracket (201) has a second roller (2012) at one end near the fixed rod (203). When the rotating rod (202) rotates downward to a horizontal state, the bottom height of the second roller (2012) is the same as the bottom height of the first roller (1012).

4. A road detection device based on ground-penetrating radar according to claim 2, characterized in that, The bidirectional telescopic mechanism (5) includes a linear mechanism (501), a first push rod (502), and two pairs of strip frames (503). The fixed end of the linear mechanism (501) is fixed in a first fixed frame (504), and the moving end moves vertically downward. The first push rod (502) is connected to the moving end of the linear mechanism (501). The length direction of the first push rod (502) is parallel to the axis of the rotating shaft (1013). Each pair of strip frames (503) is staggered. The bottom of the two pairs of strip frames (503) are fixedly connected to the two pairs of sliding sleeves (3). The two ends of the first push rod (502) are respectively inserted into the two pairs of strip frames (503). When the telescopic end of the linear mechanism (501) is pushed down, the first push rod (502) pushes the two pairs of strip frames (503) to move towards each other. When the telescopic end of the linear mechanism (501) is retracted, the first push rod (502) pushes the two pairs of strip frames (503) to move in opposite directions.

5. A road detection device based on ground-penetrating radar according to claim 4, characterized in that, The top of the fixed plate (101) is provided with two pairs of stop bars (7). When the rotating rod (202) rotates upward to the vertical position, the two pairs of mounting brackets (201) abut against the two pairs of rotating rods (202) respectively.

6. A road detection device based on ground-penetrating radar according to claim 5, characterized in that, The take-up and release mechanism (6) includes a pair of take-up and release wheels (601) and a pair of mounting seats (602). The pair of take-up and release wheels (601) are mounted on the pair of mounting seats (602) in opposite directions. The axial direction of the take-up and release wheels (601) is parallel to the axial direction of the rotating shaft (1013). Each take-up and release wheel (601) is connected to a pull rope (6011). The two pull ropes (6011) are connected to two fixed rods (203) through a pair of fixing buckles (603).

7. A road detection device based on ground-penetrating radar according to claim 6, characterized in that, A pair of take-up and take-down wheels (601) are rotatably connected to a pair of mounting seats (602) via two connecting shafts (6012). The two connecting shafts (6012) pass through the inner side of the two mounting seats (602) and are connected to two second bevel gears (6013). The bottom of each of the two second bevel gears (6013) is meshed with a first bevel gear (6041). The first bevel gear (6041) is connected to the output shaft of a motor (604). The output shaft of the motor (604) is perpendicular to the fixed plate (101). The motor (604) is fixed in a second fixed frame (605). The second fixed frame (605) is located above the first fixed frame (504).

8. A road detection device based on ground-penetrating radar according to claim 6, characterized in that, A push post (701) is provided on the top of the stop rod (7). The length direction of the push post (701) is parallel to the length direction of the sliding sleeve (3). The inward end of the push post (701) is connected to a spring (702) through a connecting piece (703). The spring (702) is sleeved on the outside of the push post (701), and the end of the spring (702) near the stop rod (7) is connected to the stop rod (7).

9. A road detection device based on ground-penetrating radar according to claim 8, characterized in that, One of the L-shaped support plates (1011) has a connecting rod (8) spaced apart on its outer side for connecting to the rear of the guide vehicle, and the other L-shaped support plate (1011) has a second push rod (9) connected to its outer side by a pair of upwardly inclined tilting rods.

10. A road detection method based on ground-penetrating radar, employing any one of the detection devices described in claims 1-9, characterized in that, Includes the following steps: S1. Connect an L-shaped support plate (1011) to the rear of the tractor; S2. The two second ground-penetrating radars (2) are lowered to a horizontal position by the retraction mechanism (6), and the two pairs of sliding sleeves (3) are moved inward by the bidirectional telescopic mechanism (5) to push the two second ground-penetrating radars (2) to abut against the two ends of the first ground-penetrating radar (1). S3. Activate the first ground-penetrating radar (1) and the second ground-penetrating radar (2), and control the tractor to move the detection device to detect road defects; S4. When the road to be detected narrows or encounters an obstacle, the two pairs of sliding sleeves (3) are moved outward by the bidirectional telescopic mechanism (5) so that the guide column (2023) reaches the end of the transverse groove (402) and the arc groove (401) connected. Then, the two second ground-penetrating radars (2) are rotated upward to the vertical state by the retraction mechanism (6).

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