Geological radar detection device and detection method

Abstract

The invention relates to a geological radar detection device and a detection method. The device comprises a moving mechanism; the folding rail is arranged on the moving mechanism, and the folding rail can be unfolded to form a horizontal sliding rail perpendicular to the advancing direction of the moving mechanism; the sliding trolley is arranged on the folding track in a sliding mode and can slide on the horizontal sliding rail in the length direction of the horizontal sliding rail; the position adjusting mechanism is arranged at the upper end of the sliding trolley; and the detection unit is connected with the position adjusting mechanism so as to adjust the position and the angle through the position adjusting mechanism. The invention provides a geological radar detection device and a detection method, so as to solve the problems of poor advanced prediction space coverage, high safety risk and low detection efficiency of a traditional artificial geological radar, and realize automatic and intelligent geological radar detection.

Description

Technical Field

[0001] This invention relates to the field of advanced detection technology. More specifically, this invention relates to a ground-penetrating radar detection device and detection method. Background Technology

[0002] In tunnel and underground engineering construction, advance detection of adverse geological formations (such as karst caves, fault fracture zones, and water-rich layers) is a crucial step in ensuring construction safety and efficiency. Traditional ground-penetrating radar (GPR) advance prediction mainly relies on manual operation at the tunnel face using handheld radar equipment or a single robotic arm equipped with radar. The radar signal is acquired by manually adjusting the detection position and angle, and the operator's experience is combined with analysis of the geological conditions ahead. However, traditional methods have the following problems: manual operation is constrained by the tunnel space, resulting in a narrow detection range and the potential for blind spots, leading to poor spatial data coverage; simultaneously, the tunnel face environment is complex, posing safety risks to manual operation, and the detection efficiency is low, making it difficult to adapt to the rapid construction needs of large-section tunnels.

[0003] In response to the above problems, some automated ground-penetrating radar (GPR) detection equipment has emerged in recent years. Although existing automated GPR detection equipment reduces some human intervention, it is mostly used in simple sites where the ground and detection surface are flat. However, tunnel faces have varying degrees of over-excavation and under-excavation during blasting and excavation, resulting in uneven surfaces and low ground flatness. Existing automated GPR detection equipment is difficult to meet the needs of refined forecasting under complex geological conditions. Summary of the Invention

[0004] The purpose of this invention is to provide a ground-penetrating radar detection device and method to solve the problems of poor spatial coverage, high safety risks, and low detection efficiency of traditional artificial ground-penetrating radar, and to realize the automation and intelligence of ground-penetrating radar detection.

[0005] To achieve these objectives and other advantages according to the present invention, a ground-penetrating radar detection device is provided, comprising:

[0006] Mobile mechanism;

[0007] A folding track is provided on the moving mechanism, and the folding track can be unfolded to form a horizontal slide rail;

[0008] A sliding trolley is slidably mounted on the folding track and can slide on the horizontal slide rail;

[0009] A position adjustment mechanism is disposed at the upper end of the sliding trolley;

[0010] A detection unit, which is connected to the position adjustment mechanism, so as to adjust the position and angle through the position adjustment mechanism.

[0011] Furthermore, in the aforementioned ground-penetrating radar detection device, the folding track includes:

[0012] Multiple linear tracks are arranged sequentially, with adjacent linear tracks hinged together by a rotating mechanism, and the middle linear track is fixedly connected to the moving mechanism.

[0013] Two sets of rolling support mechanisms are respectively installed at the lower ends of the two linear tracks located on both sides;

[0014] Two sets of ground support mechanisms are respectively installed at the lower ends of the two straight tracks located on both sides.

[0015] Furthermore, in the aforementioned ground-penetrating radar detection device, the rotating mechanism includes:

[0016] The upper rotating assembly includes a first upper rotating member and a second upper rotating member, which are hinged together and respectively disposed at the upper ends of two adjacent linear tracks.

[0017] The lower rotating assembly includes a first lower rotating member and a second lower rotating member, which are hinged together and respectively disposed at the lower ends of two adjacent linear tracks.

[0018] A first drive assembly is installed at the lower end of the first lower rotating member and is drivenly connected to the second lower rotating member.

[0019] Furthermore, in the aforementioned ground-penetrating radar detection device, the rolling support mechanism includes:

[0020] A first mounting base is connected to the linear track;

[0021] A first connecting seat is disposed below the first mounting seat;

[0022] The first push rod is vertically arranged, with its upper end connected to the first mounting base and its lower end hinged to the first connecting base;

[0023] A rotating wheel, which is rotatably connected to the first connecting seat;

[0024] A second drive assembly is disposed on the first connector and connected to the wheel drive.

[0025] Furthermore, in the aforementioned ground-penetrating radar detection device, the ground support mechanism includes:

[0026] A second mounting base is connected to the linear track;

[0027] The second push rod is vertically arranged, and its upper end is connected to the second mounting base;

[0028] A support member, which is connected to the lower end of the second push rod.

[0029] Furthermore, in the aforementioned ground-penetrating radar detection device, the moving mechanism is provided with a receiving cavity corresponding to the folding track, and the folding track can be stored in the receiving cavity when folded.

[0030] Furthermore, in the aforementioned ground-penetrating radar detection device, the sliding trolley includes:

[0031] The slide block has a groove at its lower end that corresponds to the horizontal slide rail. The two side walls of the groove are provided with first rollers. The first rollers slide in contact with the horizontal slide rail. The position adjustment mechanism is located at the upper end of the slide block.

[0032] A third drive assembly is disposed on the slide and is driven and connected to one of the first rollers.

[0033] Furthermore, in the aforementioned ground-penetrating radar detection device, the position adjustment mechanism includes:

[0034] A robotic arm is mounted on the upper end of the sliding trolley;

[0035] The mounting plate is connected to the detection unit on one side and to the robotic arm on the other side.

[0036] Furthermore, in the aforementioned ground-penetrating radar detection device, the position adjustment mechanism further includes:

[0037] Multiple third mounting bases are distributed around the detection unit and connected to the mounting plate;

[0038] The second roller is mounted on each of the third mounting bases;

[0039] The fourth drive component is installed on each of the third mounting bases and is connected to the second roller drive.

[0040] The present invention also provides a ground-penetrating radar detection method, which uses the above-mentioned ground-penetrating radar detection device and includes the following steps:

[0041] S1. The moving mechanism moves to the tunnel face and performs a three-dimensional scan of the tunnel and the tunnel face through the detection unit to obtain the tunnel outline and size, as well as the over-excavation and under-excavation of the tunnel face, to establish a three-dimensional spatial model of the tunnel. Based on the density of the ground-penetrating radar survey lines, the over-excavation and under-excavation of the tunnel face, and the flatness of the ground, the ground-penetrating radar survey lines are automatically planned to obtain the planned horizontal survey lines of the tunnel face.

[0042] S2. The moving mechanism moves to the ground at the horizontal midpoint of the working face, and the folding track unfolds to form the horizontal slide rail;

[0043] S3. The position adjustment mechanism adjusts the detection unit to a vertical state and moves it to a height corresponding to the lowest horizontal measuring line. The sliding trolley slides along the length of the horizontal slide rail, and the detection unit completes the scanning of the horizontal measuring line at the corresponding height.

[0044] S4. The position adjustment mechanism drives the detection unit to move sequentially to the height corresponding to each horizontal measuring line. The sliding trolley slides along the length of the horizontal slide rail. The detection unit completes the scanning of each horizontal measuring line until all horizontal measuring lines are scanned.

[0045] S5. Based on the raw data obtained by the detection unit, perform automated data processing and interpretation, and carry out three-dimensional modeling of the ground-penetrating radar detection results.

[0046] The beneficial effects of this invention are:

[0047] The ground-penetrating radar detection device of the present invention unfolds a folded track to form a horizontal slide rail, and a sliding trolley slides on the horizontal slide rail. At the same time, the position and angle of the detection unit are adjusted by a position adjustment mechanism, so that the detection range of the detection unit can cover the tunnel face, and the angle of the detection unit can be adjusted as needed. This solves the problems of poor spatial coverage, high safety risks and low detection efficiency of traditional manual ground-penetrating radar, and realizes the automation and intelligence of ground-penetrating radar detection.

[0048] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of the structure of the ground-penetrating radar detection device described in this invention;

[0050] Figure 2 This is another structural schematic diagram of the ground-penetrating radar detection device described in this invention;

[0051] Figure 3 This is a schematic diagram of the rotating mechanism described in this invention;

[0052] Figure 4 This is a schematic diagram of the rolling support mechanism described in this invention;

[0053] Figure 5 This is a schematic diagram of the ground support mechanism described in this invention;

[0054] Figure 6 This is a schematic diagram of the structure of the sliding trolley described in this invention;

[0055] Figure 7 This is a schematic diagram of the position adjustment mechanism described in this invention.

[0056] The reference numerals in the attached figures are as follows:

[0057] Moving mechanism 1; Receiving cavity 11;

[0058] Folding track 2; Straight track 21; Rotating mechanism 22; First upper rotating component 221; Second upper rotating component 222; First lower rotating component 223; Second lower rotating component 224; First drive assembly 225; Rolling support mechanism 23; First mounting base 231; First connecting base 232; First push rod 233; Rotating wheel 234; Second drive assembly 235; Ground support mechanism 24; Second mounting base 241; Second push rod 242; Support component 243;

[0059] Sliding trolley 3; slide block 31; first roller 32; third drive assembly 33;

[0060] Position adjustment mechanism 4; robotic arm 41; mounting plate 42; third mounting base 43; second roller 44; fourth drive assembly 45;

[0061] Detection unit 5. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the embodiments of this application, so that those skilled in the art can implement them based on the description. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0063] In the description of this invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0064] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0065] First, a brief introduction to the design concept of the embodiments of this application will be given.

[0066] like Figures 1-2 As shown, an embodiment of the present invention provides a ground-penetrating radar detection device, comprising:

[0067] Mobile mechanism 1; such as Figure 1 As shown, it uses a mobile cart;

[0068] Folding track 2, which is disposed on the moving mechanism 1, can be unfolded to form a horizontal slide rail; as Figure 1 As shown, the folding track 2 is set at the front end of the moving mechanism 1. When the folding track 2 is unfolded to form a horizontal slide rail, it is perpendicular to the forward direction of the moving mechanism 1, which makes it easier to control the position of the horizontal slide rail.

[0069] A sliding trolley 3 is slidably mounted on the folding track 2. When the folding track 2 is unfolded to form a horizontal slide rail, the sliding trolley 3 can slide along the length of the horizontal slide rail.

[0070] The position adjustment mechanism 4 is disposed on the upper end of the sliding trolley 3;

[0071] The detection unit 5 is connected to the position adjustment mechanism 4 to adjust the position and angle through the position adjustment mechanism 4.

[0072] In this embodiment, in the initial state, such as Figure 1 As shown, the folding track 2 folds and retracts, and the position adjustment mechanism 4 also retracts towards the moving mechanism 1 to reduce volume. When the ground-penetrating radar detection device is working, the moving mechanism 1 is remotely controlled, and the moving mechanism 1 moves to the tunnel face and stops according to the instructions. The detection unit 5 senses the tunnel outline and size, the over-excavation and under-excavation of the tunnel face, establishes a three-dimensional spatial model of the tunnel, and automatically plans the ground-penetrating radar survey lines considering the density of ground-penetrating radar survey lines, the degree of over-excavation and under-excavation of the tunnel face, and the flatness of the ground.

[0073] The detection unit 5 performs automated detection based on the horizontal survey line planned at the working face. The moving mechanism 1 reaches the ground at the horizontal midpoint of the working face, and then the horizontal folding arm begins to extend, as shown... Figure 2 As shown, the folding track 2 unfolds to form a horizontal slide rail. The position adjustment mechanism 4 then moves the detection unit 5, adjusting its position and angle. The sliding trolley 3 then slides along the length of the horizontal slide rail, moving the detection unit 5 horizontally to complete one horizontal survey line. The position adjustment mechanism 4 then adjusts the height of the detection unit 5 and begins scanning another horizontal survey line, until all horizontal survey lines are scanned, obtaining the raw data from the ground-penetrating radar. Finally, the detection unit 5 performs automated data processing and interpretation based on the raw ground-penetrating radar data and creates a 3D model of the ground-penetrating radar detection results.

[0074] Preferably, in another embodiment of the present invention, the folding track 2 includes:

[0075] Multiple straight tracks 21 are arranged sequentially, and two adjacent straight tracks 21 are hinged together by a rotating mechanism 22. The middle straight track 21 is fixedly connected to the moving mechanism 1.

[0076] Two sets of rolling support mechanisms 23 are respectively installed at the lower ends of the two straight tracks 21 located on both sides;

[0077] Two sets of ground support mechanisms 24 are respectively installed at the lower ends of the two straight tracks 21 located on both sides.

[0078] In this embodiment, in the initial state, such as Figure 1 As shown, the folding track 2 is folded and retracted, with the two adjacent straight tracks 21 parallel and close together. The middle straight track 21 is fixedly connected to the moving mechanism 1, and the sliding trolley 3 is located on the middle straight track 21. When the folding track 2 needs to be unfolded, the rotating mechanism 22 drives the two adjacent straight tracks 21 to rotate relative to each other, so that the two adjacent straight tracks 21 rotate until they are aligned on the same straight line and their ends touch. Figure 2 As shown, multiple rotating mechanisms 22 operate simultaneously to unfold the folding track 2, and multiple straight tracks 21 are connected to form a long horizontal slide rail. During the unfolding process, to ensure the folding track 2 remains horizontal, two sets of rolling support mechanisms 23 are installed at the lower ends of the two straight tracks 21 on both sides. The lower ends of the rolling support mechanisms 23 roll against the tunnel surface, supporting the folding track 2 during its unfolding. After the folding track 2 is fully unfolded, two sets of ground support mechanisms 24 support the horizontal slide rail, maintaining its stability, thus allowing the sliding trolley 3 to slide stably horizontally.

[0079] Preferably, as another embodiment of the present invention, such as Figure 3 As shown, the rotating mechanism 22 includes:

[0080] The upper rotating assembly includes a first upper rotating member 221 and a second upper rotating member 222, which are hinged together and respectively disposed at the upper ends of two adjacent linear tracks 21.

[0081] The lower rotating assembly includes a first lower rotating member 223 and a second lower rotating member 224, which are hinged together and respectively disposed at the lower ends of two adjacent linear tracks 21.

[0082] The first drive assembly 225 is installed at the lower end of the first lower rotating member 223 and is drivenly connected to the second lower rotating member 224.

[0083] In this embodiment, for the upper rotating assembly, a first circular protrusion is horizontally provided on the first upper rotating member 221, and a circular groove corresponding to the circular protrusion is provided on the second upper rotating member 222. The first circular protrusion is coaxially and rotatably disposed in the circular groove. A second circular protrusion is also horizontally provided on the second upper rotating member 222, and a bearing is embedded in the second circular protrusion. The inner ring of the bearing is connected to the first circular protrusion, thus achieving a direct rotatable connection between the second and first circular protrusions, i.e., the first and second upper rotating members 221 are hinged. The upper rotating assembly and the lower rotating assembly have the same mechanism, and the bearings of the upper rotating assembly and the lower rotating assembly are coaxially disposed.

[0084] The first drive assembly 225 includes a mounting bracket, a geared motor, and two gears. The geared motor is fixed to the lower end of the first lower rotating member 223 by the mounting bracket. The two gears are respectively installed on the output shaft of the geared motor and the lower end of the second lower rotating member 224. The two gears mesh. When the geared motor is working, it drives the second lower rotating member 224 to rotate through the two gears, thereby causing the linear track 21 where the second lower rotating member 224 is located to rotate relative to the linear track 21 where the geared motor is located.

[0085] Preferably, as another embodiment of the present invention, such as Figure 4 As shown, the rolling support mechanism 23 includes:

[0086] A first mounting base 231 is connected to the linear track 21;

[0087] The first connecting seat 232 is disposed below the first mounting seat 231;

[0088] The first push rod 233 is vertically arranged. The upper end of the first push rod 233 is connected to the first mounting base 231, and the lower end is hinged to the first connecting base 232.

[0089] A rotating wheel, which is rotatably connected to the first connecting seat 232;

[0090] The second drive assembly 235 is disposed in the first connector 232 and is connected to the wheel drive.

[0091] In this embodiment, the extension and retraction of the first push rod 233 drives the first connecting seat 232 to move up and down. The first push rod 233 is hinged to the first connecting seat 232. When the wheel contacts the ground, the rotation of the first connecting seat 232 can play a buffering role.

[0092] Preferably, as another embodiment of the present invention, such as Figure 5 As shown, the ground support mechanism 24 includes:

[0093] The second mounting base 241 is connected to the linear track 21;

[0094] The second push rod 242 is vertically arranged, and the upper end of the second push rod 242 is connected to the second mounting base 241.

[0095] Support member 243 is connected to the lower end of the second push rod 242.

[0096] In this embodiment, the second push rod 242 drives the support member 243 to move downwards until it contacts the tunnel ground, thereby fixing the outermost straight track 21.

[0097] Preferably, as another embodiment of the present invention, such as Figure 1 and Figure 2 As shown, the moving mechanism 1 is provided with a receiving cavity 11 corresponding to the folding track 2, and the folding track 2 can be stored in the receiving cavity 11 when folded.

[0098] In this embodiment, a receiving cavity 11 is provided in the moving mechanism 1. When the folding track 2 is folded, it can be stored in the receiving cavity 11 to prevent the folding track 2 from affecting the movement of the moving mechanism 1.

[0099] Preferably, as another embodiment of the present invention, such as Figure 6 As shown, the sliding trolley 3 includes:

[0100] The slide block 31 has a groove at its lower end that corresponds to the horizontal slide rail. The two side walls of the groove are provided with first rollers 32. The first rollers 32 slide in contact with the horizontal slide rail. The position adjustment mechanism 4 is located at the upper end of the slide block 31.

[0101] A third drive assembly 33 is disposed on the slide 31 and is drively connected to one of the first rollers 32.

[0102] In this embodiment, such as Figure 6 As shown, the third drive assembly 33 includes a geared motor, a transmission rod, two transmission gears, and two bevel gears. The output shaft of the geared motor is connected to one bevel gear. The transmission rod is vertically arranged and rotatably connected to the slide 31. One end of the transmission rod is equipped with a bevel gear, and the other end is coaxially equipped with a transmission gear. Figure 6 As shown, two notches are provided on both sides of the slide block 31, and a first roller 32 is vertically arranged in the notch. The first roller 32 is rotatably connected to the slide block 31 through a rotating shaft. A transmission gear is coaxially arranged on the rotating shaft corresponding to the first roller 32, which is driven and connected to the third drive assembly 33. The two transmission gears mesh, and the two bevel gears mesh. When the reduction motor is working, it drives the transmission rod to rotate. The transmission rod drives the rotating shaft and the first roller 32 to rotate through the two transmission gears, thereby driving the sliding trolley 3 to slide on the horizontal slide rail.

[0103] Preferably, as another embodiment of the present invention, such as Figure 2 As shown, the position adjustment mechanism 4 includes:

[0104] Robotic arm 41 is mounted on the upper end of the sliding trolley 3;

[0105] Mounting plate 42, one side of which is connected to the detection unit 5, and the other end of which is connected to the robotic arm 41.

[0106] In this embodiment, the robotic arm 41 can be an existing device. The position and angle of the mounting plate 42 can be adjusted by the robotic arm 41 to achieve the adjustment of the position and angle of the detection unit 5.

[0107] Preferably, as another embodiment of the present invention, such as Figure 7 As shown, the position adjustment mechanism 4 further includes:

[0108] Multiple third mounting bases 43 are distributed around the detection unit 5 and connected to the mounting plate 42;

[0109] The second roller 44 is mounted on each of the third mounting bases 43;

[0110] The fourth drive assembly 45 is installed on each of the third mounting bases 43, and the fourth drive assembly 45 is drivenly connected to the second roller 44.

[0111] In this embodiment, by setting multiple second rollers 44, when the detection unit 5 approaches the working face, the second rollers 44 contact the working face to prevent the detection unit 5 from contacting the working face and to protect the detection unit 5.

[0112] The present invention also provides a ground-penetrating radar detection method, which uses the above-mentioned ground-penetrating radar detection device and includes the following steps:

[0113] S1. The moving mechanism 1 moves to the tunnel face and performs a three-dimensional scan of the tunnel and the tunnel face through the detection unit 5 to obtain the tunnel outline and size, as well as the over-excavation and under-excavation of the tunnel face, to establish a three-dimensional spatial model of the tunnel, and to automatically plan the geological radar survey lines based on the density of the geological radar survey lines, the over-excavation and under-excavation of the tunnel face, and the flatness of the ground, so as to obtain the planned horizontal survey lines of the tunnel face.

[0114] Specifically, it includes the following steps:

[0115] ① Use laser point cloud scanning to scan the tunnel's spatial structure and obtain high-density point cloud data of the tunnel face;

[0116] ② Point cloud preprocessing to remove outliers;

[0117] ③ Calculate the normal distance from each measuring point to the design section mileage;

[0118] ④ Generate scan lines at 10cm intervals in the horizontal direction;

[0119] ⑤ Evaluate over-excavation and under-excavation indicators:

[0120]

[0121] Where A is the over-excavation / under-excavation index, and α, β and γ are all constants.

[0122] ⑥ Score each survey line;

[0123] ⑦ Pre-selection of survey lines: Based on the total number of survey lines (e.g., 5 or 7), divide the working face into the corresponding number of blocks in the horizontal direction, and select the survey line with the highest score from among them;

[0124] ⑧ If the distance between any two selected survey lines is less than 1m, then select the next best survey line from top to bottom until all survey lines are selected;

[0125] ⑨ Results verification and output.

[0126] S2. The moving mechanism 1 moves to the ground at the horizontal midpoint of the working face, and the folding track 2 unfolds to form the horizontal slide rail;

[0127] S3. The position adjustment mechanism 4 adjusts the detection unit 5 to a vertical state and moves it to the height corresponding to the lowest horizontal measuring line. The sliding trolley 3 slides along the length of the horizontal slide rail, and the detection unit 5 completes the scanning of the horizontal measuring line at the corresponding height.

[0128] S4. The position adjustment mechanism 4 drives the detection unit 5 to move sequentially to the height corresponding to each horizontal measuring line. The sliding trolley 3 slides along the length direction of the horizontal slide rail. The detection unit 5 completes the scanning of each horizontal measuring line until all horizontal measuring lines are scanned.

[0129] S5. Based on the raw data obtained by the detection unit 5, perform automated data processing and interpretation, and carry out three-dimensional modeling of the ground-penetrating radar detection results.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the embodiments, those skilled in the art should understand that modifications or equivalent substitutions to the technical solutions of this application do not depart from the spirit and scope of the technical solutions of this application, and should all be covered within the scope of the claims of this application.

Claims

1. A ground penetrating radar device, characterized in that, include: Mobile mechanism; A folding track is provided on the moving mechanism, and the folding track can be unfolded to form a horizontal slide rail; A sliding trolley is slidably mounted on the folding track and can slide on the horizontal slide rail; A position adjustment mechanism is disposed at the upper end of the sliding trolley; A detection unit, which is connected to the position adjustment mechanism, so as to adjust the position and angle through the position adjustment mechanism.

2. A ground penetrating radar apparatus as claimed in claim 1, wherein, The folding track includes: Multiple linear tracks are arranged sequentially, with adjacent linear tracks hinged together by a rotating mechanism, and the middle linear track is fixedly connected to the moving mechanism. Two sets of rolling support mechanisms are respectively installed at the lower ends of the two linear tracks located on both sides; Two sets of ground support mechanisms are respectively installed at the lower ends of the two straight tracks located on both sides.

3. A ground penetrating radar apparatus as claimed in claim 2, wherein, The rotating mechanism includes: The upper rotating assembly includes a first upper rotating member and a second upper rotating member, which are hinged together and respectively disposed at the upper ends of two adjacent linear tracks. The lower rotating assembly includes a first lower rotating member and a second lower rotating member, which are hinged together and respectively disposed at the lower ends of two adjacent linear tracks. A first drive assembly is installed at the lower end of the first lower rotating member and is drivenly connected to the second lower rotating member.

4. The ground penetrating radar apparatus of claim 2, wherein, The rolling support mechanism includes: A first mounting base is connected to the linear track; A first connecting seat is disposed below the first mounting seat; The first push rod is vertically arranged, with its upper end connected to the first mounting base and its lower end hinged to the first connecting base; A rotating wheel, which is rotatably connected to the first connecting seat; A second drive assembly is disposed on the first connector and connected to the wheel drive.

5. A ground penetrating radar apparatus as claimed in claim 2, wherein, The ground support mechanism includes: A second mounting base is connected to the linear track; The second push rod is vertically arranged, and its upper end is connected to the second mounting base; A support member, which is connected to the lower end of the second push rod.

6. The ground penetrating radar apparatus of claim 1, wherein, The moving mechanism is provided with a receiving cavity corresponding to the folding track, and the folding track can be stored in the receiving cavity when folded.

7. The ground penetrating radar apparatus of claim 1, wherein, The sliding trolley includes: The slide block has a groove at its lower end that corresponds to the horizontal slide rail. The two side walls of the groove are provided with first rollers. The first rollers slide in contact with the horizontal slide rail. The position adjustment mechanism is located at the upper end of the slide block. A third drive assembly is disposed on the slide and is driven and connected to one of the first rollers.

8. The ground penetrating radar apparatus of claim 1, wherein, The position adjustment mechanism includes: A robotic arm is mounted on the upper end of the sliding trolley; The mounting plate is connected to the detection unit on one side and to the robotic arm on the other side.

9. A ground penetrating radar apparatus as claimed in claim 8, wherein, The position adjustment mechanism further includes: Multiple third mounting bases are distributed around the detection unit and connected to the mounting plate; The second roller is mounted on each of the third mounting bases; The fourth drive assembly is installed on each of the third mounting bases and is connected to the second roller drive assembly.

10. A method of ground penetrating radar detection using the ground penetrating radar detection apparatus of any one of claims 1 to 9, characterised in that, Includes the following steps: S1, the mobile mechanism moves to the tunnel face, the tunnel and the face are scanned by the detection unit, the tunnel profile and size, and the overbreak and underbreak of the face are obtained, a three-dimensional model of the tunnel space is established, and automatic planning of the geological radar measuring line is carried out based on the geological radar measuring line density, the overbreak and underbreak of the face, and the ground flatness, to obtain the face planning horizontal measuring line; S2, the mobile mechanism moves to the ground at the horizontal midpoint of the face, and the folding rail is unfolded to form the horizontal slide rail; S3, the position adjusting mechanism adjusts the detection unit to a vertical state and moves it to a height corresponding to the lowermost horizontal measuring line, the sliding trolley slides along the length direction of the horizontal slide rail, and the detection unit completes the scanning of the horizontal measuring line at the corresponding height; S4, the position adjusting mechanism moves the detection unit to heights corresponding to each horizontal measuring line in turn, the sliding trolley slides along the length direction of the horizontal slide rail, and the detection unit completes the scanning of each horizontal measuring line until all the horizontal measuring lines are scanned; S5, based on the original data obtained by the detection unit, automatic data processing and interpretation are carried out, and three-dimensional modeling of the geological radar detection results is carried out.

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