Split type radar detection device and advanced geological detection method

Abstract

The application belongs to the technical field of geological exploration, and specifically provides a split type radar detection equipment, which comprises a first moving device, a second moving device, a folding assembly, a detection device and a mounting rod; the first moving device and the second moving device are both provided with vertical telescopic rods; the folding assembly comprises a first folding rod and a second folding rod; the first folding rod and the second folding rod both comprise a plurality of connecting rods which are connected in sequence; one end of the first folding rod is rotationally connected with the vertical telescopic rod of the first moving device, and the other end is rotationally connected with one end of the mounting rod; one end of the second folding rod is rotationally connected with the vertical telescopic rod of the second moving device, and the other end is rotationally connected with the end of the mounting rod which is away from the first folding rod; the detection device is provided with a pulley; the mounting rod, the connecting rods of the first folding rod and the connecting rods of the second folding rod are all provided with sliding rails; each sliding rail is in sliding cooperation with the pulley of the detection device.

Description

Technical Field

[0001] This invention belongs to the field of geological exploration technology, specifically relating to a split-type radar detection device and an advanced geological 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 significant limitations: 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; furthermore, the complex environment at the tunnel face poses safety risks for manual operation, and the low detection efficiency makes it difficult to meet the demands of rapid construction of large-section tunnels.

[0003] While existing automated ground-penetrating radar (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 experience 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 insufficient to meet the needs for refined forecasting under complex geological conditions. Summary of the Invention

[0004] The purpose of this invention is to overcome the problems of poor spatial coverage, high security risks, and low detection efficiency of artificial ground-penetrating radar in the prior art for advanced geological prediction data.

[0005] To address this, the present invention provides a split-type radar detection device, comprising a first moving device, a second moving device, a folding assembly, a detection device, and a mounting rod; both the first and second moving devices are provided with vertical telescopic rods; the folding assembly includes a first folding rod and a second folding rod; both the first and second folding rods include multiple connecting rods rotatably connected in sequence; one end of the first folding rod is rotatably connected to the vertical telescopic rod of the first moving device, and the other end is rotatably connected to one end of the mounting rod; one end of the second folding rod is rotatably connected to the vertical telescopic rod of the second moving device, and the other end is rotatably connected to the end of the mounting rod away from the first folding rod; the detection device is provided with pulleys; slide rails are provided on the mounting rod, the connecting rods of the first folding rod, and the connecting rods of the second folding rod; each slide rail is slidably engaged with the pulleys of the detection device.

[0006] Specifically, the aforementioned detection device includes a base and a radar mounted on the base; the base has a connecting groove that matches the mounting rod; the pulley is disposed in the connecting groove; the mounting rod is inserted into the connecting groove, and the pulley is slidably connected to the slide rail of the mounting rod.

[0007] Specifically, the base is equipped with a horizontal telescopic rod; the radar is rotatably connected to the telescopic end of the horizontal telescopic rod.

[0008] Specifically, each of the connecting rods is rotatably connected to the adjacent connecting rods through a first rotating connector, and the rotation directions at both ends of each connecting rod are opposite.

[0009] Specifically, the first rotating connector includes a first connecting plate and a second connecting plate; the first connecting plate is provided with a first rotating shaft; the second connecting plate is provided with a first rotating hole; the second connecting plate is sleeved on the first rotating shaft through the first rotating hole; the first connecting plate and the second connecting plate are respectively fixed on two adjacent connecting rods.

[0010] Specifically, both the first folding rod and the second folding rod are rotatably connected to the vertical telescopic rod via a second rotating connector; the second rotating connector includes a third connecting plate and a connecting column; the connecting column is provided with a second rotating shaft; the third connecting plate is provided with a second rotating hole; the third connecting plate is rotatably sleeved on the second rotating shaft through the second rotating hole; the connecting column is fixed to the top of the vertical telescopic rod; the third connecting plate is fixed to the first folding rod or the second folding rod.

[0011] The present invention also provides an advanced geological exploration method, based on any one of the split-type radar detection devices described above, comprising the following steps:

[0012] The split-type radar detection equipment is moved as a whole to the tunnel face to be detected, and a three-dimensional model of the tunnel space is established through the detection device, and the survey lines of the tunnel face are planned.

[0013] Move the split-type radar detection equipment as a whole to the horizontal midpoint of the face to be detected;

[0014] The first and second moving devices move to the left and right sides of the working face respectively, so that the first and second folding rods are fully extended, and the slide rails on the first folding rod, the second folding rod, and the mounting rod are connected to form a long track.

[0015] The detection device is moved along a long track by pulleys to complete the current horizontal survey line detection according to the survey line plan of the working face;

[0016] The vertical telescopic rod continues to extend until all survey lines on the working face have been completed.

[0017] Specifically, the aforementioned planned tunnel face survey lines include: scanning the tunnel spatial structure with laser point cloud to obtain tunnel face point cloud data; calculating the normal distance from each survey point to the design cross-section mileage; generating preset survey lines at certain intervals in the horizontal direction; scoring each survey line for over-excavation and under-excavation indices; and dividing the tunnel face into corresponding blocks in the horizontal direction according to the total number of survey lines, selecting the survey line with the lowest score as the tunnel face survey line.

[0018] Specifically, the above-mentioned over-excavation and under-excavation index scoring includes: evaluating the over-excavation and under-excavation index based on the average over-excavation and under-excavation value, the variance of over-excavation and under-excavation, and the absolute value of the maximum deviation value. A = α * average over-excavation and under-excavation value + β * variance of over-excavation and under-excavation + γ * absolute value of the maximum deviation value; where α, β, and γ are weighting coefficients, which are set according to the tunnel type and quality requirements.

[0019] Specifically, the aforementioned advanced geological exploration method also includes: calculating the horizontal distance between any two pre-selected survey lines; if the horizontal distance is <1m, then replacing it with the survey line with the second-best score within the block, recalculating the distance, until the distance between all selected survey lines is ≥1m.

[0020] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0021] The split-type radar detection device provided by this invention, by setting a foldable horizontal track and an extended track between the split-type moving modules composed of the first moving device and the second moving device, enables the detection device to move horizontally and vertically along the tunnel face within a certain range, overcoming the bottlenecks of low coverage and low detection efficiency of traditional manual detection, while reducing the risk of manual intervention and adapting to the needs of complex tunnel construction environments.

[0022] This invention provides an advanced geological exploration method that constructs a tunnel spatial model using laser point clouds, intelligently plans the detection path of a split-type radar detection device, and achieves the separation of the split-type radar detection device and coordinated control of the detection device in the horizontal and vertical directions. It realizes full-process detection and data processing, effectively improving the coverage, detection efficiency, and operational safety of geological radar survey lines. It has the advantages of automated detection, intelligent processing, and accurate analysis.

[0023] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the separated state structure of a split radar detection device in one implementation method.

[0025] Figure 2 This is a schematic diagram of the combined structure of a split-type radar detection device in one implementation method.

[0026] Figure 3This is a schematic diagram of the folded component in one implementation method.

[0027] Figure 4 This is a schematic diagram of the connection between the detection device and the folding assembly in one implementation method.

[0028] Figure 5 This is a schematic diagram of the detection device structure in one implementation method.

[0029] Figure 6 This is a diagram illustrating the connection structure between the links in one implementation method.

[0030] Figure 7 This is a schematic diagram of the connection state of the first rotating connector in one embodiment.

[0031] Figure 8 This is a schematic diagram of the first rotating connector in a disassembled state in one embodiment.

[0032] Figure 9 This is a schematic diagram of the connection state of the second rotating connector in one embodiment.

[0033] Figure 10 This is a schematic diagram of the second rotating connector in a disassembled state in one embodiment.

[0034] Figure 11 This is a schematic diagram of the protective shell structure in one implementation method.

[0035] Figure 12 This is a schematic diagram illustrating the relative position of a split-type radar detection device to the working face in one implementation method.

[0036] Figure 13 This is a schematic diagram of a split-type radar detection device in one implementation method.

[0037] Reference numerals: 1. First moving device; 2. Second moving device; 3. Vertical telescopic rod; 4. Mounting rod; 5. First folding rod; 6. Second folding rod; 7. Connecting rod; 8. Radar; 9. Base; 10. Connecting groove; 11. Horizontal telescopic rod; 12. First rotating connector; 121. First connecting plate; 122. First rotating shaft; 123. Second connecting plate; 124. First rotating hole; 13. Second rotating connector; 131. Third connecting plate; 132. Second rotating hole; 133. Connecting column; 134. Second rotating shaft; 14. Protective cover; 15. Working face. Detailed Implementation

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Although representative embodiments of the present invention have been described in detail, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the embodiments, but should be defined by the appended claims and their equivalents.

[0039] Reference Figure 1-2 This invention provides a split-type radar detection device, including a first moving device, a second moving device, a folding assembly, a detection device, and a mounting rod. Both the first and second moving devices are equipped with vertical telescopic rods. The folding assembly includes a first folding rod and a second folding rod. Both the first and second folding rods include multiple connecting rods that are rotatably connected in sequence. One end of the first folding rod is rotatably connected to the vertical telescopic rod of the first moving device, and the other end is rotatably connected to one end of the mounting rod. One end of the second folding rod is rotatably connected to the vertical telescopic rod of the second moving device, and the other end is rotatably connected to the end of the mounting rod away from the first folding rod. The detection device is equipped with pulleys. Slide rails are provided on the mounting rod, the connecting rods of the first and second folding rods, and each slide rail is slidably engaged with the pulleys of the detection device.

[0040] The first and second mobile devices can be designed to be integrated, meaning they can be combined into a single unit or separated. Ideally, they should be equipped with casters at the bottom to adjust the direction of travel as needed. A lidar detection device is preferred for the radar detection device. The movement, extension, folding, and radar detection functions of the split-type radar detection equipment can be controlled via a remote control system.

[0041] In the initial state, the first and second moving devices are assembled into a single structure and move synchronously. For example... Figure 3 As shown, the vertical telescopic rods are all in the retracted state, the pulleys of the detection device are located on the slide rails of the mounting rod, and the first and second folding rods are folded and stored on both sides of the mounting rod.

[0042] When it is necessary to probe the tunnel face, such as Figure 1As shown, the first and second moving devices separate and move in opposite directions. After the first and second folding rods move to their full extension, the slide rails on the first, second, and mounting rods connect to form a long track. This allows the detection device to move back and forth on the first, second, and mounting rods with the help of pulleys and the long track for surveying. When the detection height needs to be adjusted, the vertical telescopic rods of the first and second moving devices are synchronously controlled by the remote control system to adjust the detection height of the detection device.

[0043] After detection, the vertical telescopic rod retracts synchronously to its lowest point. The detection device moves onto the mounting rod via pulleys. The first and second moving devices move towards each other. The connecting rods of the first and second folding rods fold together by rotation until the split-type radar detection equipment is fully retracted. Figure 2 state.

[0044] To ensure the stability of the detection device's support and movement, such as Figure 1 As shown, each of the first and second mobile devices has two vertical telescopic rods. A set of folding components is connected between the corresponding vertical telescopic rods of the first and second mobile devices. A mounting rod is rotatably connected between the first and second folding rods of each set of folding components. The detection component is slidably connected to the two mounting rods through two sets of pulleys.

[0045] Furthermore, the detection device includes a base and a radar mounted on the base; the base has a connecting groove that matches the mounting rod; the pulley is disposed in the connecting groove; the mounting rod is inserted into the connecting groove, and the pulley is slidably connected to the slide rail of the mounting rod. Figure 4 As shown, the width direction is limited by the connecting groove to ensure the sliding stability of the detection device on the mounting rod and folding assembly.

[0046] Specifically, refer to Figure 5 The base is equipped with a horizontal telescopic rod; the radar is rotatably connected to the telescopic end of the horizontal telescopic rod. The distance between the radar and the working face to be measured is adjusted by the horizontal telescopic rod.

[0047] Optionally, the radar is held by a robotic arm, which is mounted on the telescopic end of a horizontal telescopic rod via a rotating shaft and a rotary motor, thereby achieving automated control of the detection device.

[0048] In one embodiment, each link is rotatably connected to an adjacent link via a first rotating connector, and the rotation directions at both ends of each link are opposite, so that the length of the folding assembly after folding is only the length of the link. (Refer to...) Figure 6To ensure smooth rotation and prevent interference with the movement of the pulleys on the slide rails, a set of rotating connectors is symmetrically provided on the upper and lower end faces of the connecting nodes between the connecting rods, and the slide rails are set on two sides in the width direction of the connecting rods.

[0049] Furthermore, the rotating connectors at both ends of the connecting rod are arranged on opposite sides of the end face, i.e., on different sides, so that the two ends of the connecting rod rotate in opposite directions. At the same time, the structure of the connecting rod itself can lock the two ends of the connecting rod in the opposite direction of rotation.

[0050] In a detailed implementation, refer to Figure 7-8 The first rotating connector includes a first connecting plate and a second connecting plate. The first connecting plate has a first rotating shaft; the second connecting plate has a first rotating hole. The second connecting plate is sleeved onto the first rotating shaft through the first rotating hole. The first connecting plate and the second connecting plate are respectively fixed to two adjacent connecting rods. Through the cooperation of the first rotating hole and the first rotating shaft, adjacent connecting rods can rotate around the first rotating shaft. To ensure smooth rotation, after the first rotating connector is assembled, the connecting surfaces of the first connecting plate and the connecting rod, and the connecting surfaces of the second connecting plate and the connecting rod, are on the same plane.

[0051] like Figure 4 As shown, the first folding rod and the second folding rod can also be connected to the mounting rod using a first rotating connector.

[0052] In another implementation, refer to Figure 9-10 The first and second folding rods are both rotatably connected to the vertical telescopic rod via a second rotating connector. The second rotating connector includes a third connecting plate and a connecting column. The connecting column has a second rotating shaft. The third connecting plate has a second rotating hole. The third connecting plate is rotatably sleeved on the second rotating shaft through the second rotating hole. The connecting column is fixed to the top of the vertical telescopic rod. The third connecting plate is fixed to either the first or second folding rod. To improve rotational stability, the second rotating connector can have two third connecting plates. The connecting column has a second rotating shaft at both its upper and lower ends. The two third connecting plates are respectively fixed to the upper and lower end faces of the end of the first connecting rod that is not connected to other connecting rods. The second rotating holes are rotatably sleeved on the corresponding second rotating shafts. A mounting base can be provided at the top of the vertical telescopic rod, and the connecting column of the second rotating connector is fixed to the mounting base, facilitating the connection between the folding assembly and the vertical telescopic rod.

[0053] Preferably, a motor can be used to coordinate the rotation of the first and second rotating connectors to ensure the smooth and controllable operation of the equipment.

[0054] In one embodiment, both the first and second moving devices are provided with protective covers on their tops to shield the folding assembly in the folded state. For example... Figure 11As shown, sufficient space is reserved at the bottom of the protective cover and on the top surface of the first / second moving device to accommodate the retracted first / second folding rod. After the split-type radar detection equipment completes its detection task, the vertical telescopic rod is lowered to its lowest position, the first and second moving devices move towards each other, and the first and second folding rods are subjected to force, folding between the corresponding protective cover and the top surface of the first and second moving devices. When fully folded, the first and second folding rods are respectively retracted under the corresponding protective cover.

[0055] This invention also provides an advanced geological exploration method, based on the aforementioned split-type radar detection equipment, comprising the following steps:

[0056] S1. In the initial state, the first mobile device and the second mobile device are spliced ​​together as one unit. The first vertical telescopic rod and the second vertical telescopic rod are retracted. The folding rod is folded on the top of the first mobile device and the second mobile device. Through remote control and automatic driving, the first mobile device and the second mobile device are moved to the working face to be detected.

[0057] S2. Using detection devices, the tunnel outline, dimensions, and over- or under-excavation conditions at the tunnel face are investigated. A three-dimensional spatial model of the tunnel is established. Taking into account the density of ground-penetrating radar survey lines, the degree of over- or under-excavation at the tunnel face, and the flatness of the ground, ground-penetrating radar survey lines at the tunnel face are planned. Specifically, this includes:

[0058] (1) Laser point cloud scanning of tunnel spatial structure to obtain high-density point cloud data of the tunnel face.

[0059] Before scanning, distance calibration, angle calibration, and reflectivity calibration are performed to ensure accuracy.

[0060] Using the tunnel design axis as a reference, a local construction coordinate system is established, with the X-axis representing the tunnel excavation direction, the Y-axis representing the horizontal and vertical excavation directions, and the Z-axis representing the vertical direction. 3-5 targets (control points) are set up around the tunnel face for point cloud registration.

[0061] Set the scan resolution to ensure that the point cloud density at the working face is ≥100 points / cm². 2 The scanning range covers the entire working face, including the arch, sidewalls, and invert; the scanning range extends forward 5-10m from the working face, including some supported sections, to avoid obstruction and ensure the integrity of the working face outline.

[0062] If the working face is large, multi-station scanning is adopted, with each station scanning time being 5-10 minutes. The point cloud of multiple stations is stitched together by the target to generate the overall point cloud model of the working face.

[0063] (2) Point cloud preprocessing to remove outliers

[0064] The point clouds from multiple stations were unified into the construction coordinate system. Based on the tunnel design mileage and dimensions, redundant points were added and irrelevant point clouds outside the tunnel were deleted, leaving only the point clouds at the tunnel face and within a 0.5m radius around it.

[0065] Statistical filtering is used to remove isolated points that are too far from the cluster center. Gaussian filtering or moving least squares method is used to smooth the point cloud surface of the face and preserve the true contour features.

[0066] If the point cloud density is too high, voxel downsampling is used to reduce the amount of data without losing contour accuracy;

[0067] (3) Calculate the normal distance from each measuring point to the design cross-section mileage.

[0068] Extract the tunnel design cross-section corresponding to the mileage of the tunnel face, convert it into a point cloud model (design cross-section point cloud), and unify it to the construction coordinate system;

[0069] For each measuring point P(x,y,z) at the tunnel face, project it along the tunnel excavation direction (X-axis) onto the mileage plane where the design section is located to obtain the projection point P′(x0,y,z). Calculate the normal distance d from all measuring points to the mileage of the design section. When there is over-excavation, d>0; when there is under-excavation, d<0.

[0070] (4) Generate scan lines at certain intervals in the horizontal direction.

[0071] Extract the Y-axis (horizontal direction) extreme values ​​of the point cloud at the face of the tunnel. min Y max Calculate the horizontal width of the tunnel face W=Y max- Y min ;

[0072] Divide the horizontal intervals according to the design spacing (usually 10cm): Y i =Y min +0.1×i (i=0,1,...,k,k=W / 0.1), each interval corresponds to one scan line;

[0073] For each horizontal interval [Y i- 0.05, Y i +0.05], extract all the point clouds of the face within this interval, sort them according to the Z-axis (vertical direction), and generate scan lines along the vertical direction.

[0074] For sparse measurement points, linear interpolation is used to supplement the measurement points to ensure the continuity of the scan line;

[0075] (5) Evaluate over-excavation and under-excavation indicators.

[0076] Taking a single survey line as a unit, extract the normal distance data of all survey points on the single survey line, and divide the sum of the normal distances of all survey points by the total number of survey points to obtain the average over-excavation and under-excavation value of the single survey line;

[0077] Based on the average over-excavation and under-excavation value of a single survey line, calculate the difference between the normal distance of all survey points and the average over-excavation and under-excavation value. Sum the squares of all the differences and divide by the total number of survey points to obtain the over-excavation and under-excavation variance (the degree of dispersion of the normal distance of each survey point).

[0078] Extract the extreme values ​​(maximum over-excavation value and minimum under-excavation value) of the normal distances of all measuring points on a single measuring line, and take the maximum absolute value to obtain the absolute value of the maximum deviation.

[0079] The over-excavation and under-excavation index score A is calculated as follows: A = α * average over-excavation and under-excavation value + β * over-excavation and under-excavation variance + γ * absolute value of maximum deviation.

[0080] α, β, and γ are weighting coefficients, which are comprehensively considered based on the actual detection purpose and detection conditions; the average over-excavation and under-excavation values ​​determine the accuracy of subsequent interpretation; the over-excavation and under-excavation variance determines the detection time; and the maximum absolute value of the deviation determines the feasibility of this survey line.

[0081] The above steps are used to score all survey lines at the working face, sort them by A value from smallest to largest, generate a survey line score ranking table, and record the ID, Y-axis position, A value and ranking of each survey line;

[0082] (6) Pre-selection of survey lines

[0083] Based on the total number of survey lines N, the horizontal width W of the tunnel face is divided into N equal parts, and the survey line with the lowest score is selected as the pre-selected survey line.

[0084] (7) Verification and optimization of measuring line spacing

[0085] Calculate the horizontal distance between any two pre-selected survey lines. If the horizontal distance is <1m, mark it as 'distance not met'. For survey line blocks that do not meet the distance requirement, replace them with the second-best survey line in the block according to the Y-axis from largest to smallest, and recalculate the distance until the distance between all selected survey lines is ≥1m.

[0086] (8) Result verification and output

[0087] The final selected survey lines are superimposed onto the point cloud model of the working face. The distribution of the survey lines is checked to ensure that they cover the working face (arch, sidewall, invert) evenly. The over-excavation and under-excavation indices of the final survey lines are verified to ensure that there are no obvious abnormalities, and a survey line planning map of the working face is formed.

[0088] S3. Conduct automated detection based on the tunnel face surveying plan;

[0089] Reference Figure 12-13The split-type radar detection equipment is moved as a whole to the ground at the horizontal midpoint of the working face. Then the first and second moving devices separate and move to the left and right sides of the working face respectively. Their movement can be controlled by a four-drive motor. The distance from the side wall of the working face is controlled by the three-dimensional model established by the lidar and the laser rangefinder.

[0090] During the movement, the first and second folding rods, which are in a folded state, gradually straighten out. Their straightening can be controlled by the motor at the connection point of the connecting rod, so that the first and second folding rods are finally in a horizontal and fully straightened state.

[0091] S4. After the first and second folding rods are in a fully extended horizontal position, the slide rails on the first folding rod, the second folding rod, and the mounting rod are connected to form a long track; the horizontal telescopic rod drives the radar to approach the working face, the radar detection end rotates to face the working face, and the base drives the radar to move on the long track through pulleys to complete the horizontal survey line detection.

[0092] S5. The vertical telescopic rods on the first and second mobile devices extend synchronously, raising the first and second folding rods to the predetermined survey line position. Then, the base drives the radar to repeatedly perform horizontal survey line detection, and the vertical telescopic rods continue to extend until all survey lines on the face are detected, forming advanced geological exploration data.

[0093] During the detection process, the first and second mobile devices do not move. For example, if the width of the tunnel face is 12m, the distance between the vehicle bodies in the final extended state is about 8m, with a 2m safety interval reserved on each side, sacrificing detection coverage to maintain stability.

[0094] S6. Based on advanced geological exploration data, perform automated data processing and interpretation, and conduct three-dimensional modeling of geological radar exploration results;

[0095] The split-type radar detection equipment, having completed its detection, synchronously retracts all vertical telescopic rods, and the detection device moves onto the mounting rod. The first and second moving devices move towards each other and connect to form a whole. The first and second folding rods fold synchronously, and the split-type radar detection equipment is remotely controlled to exit the tunnel.

[0096] The above examples are merely illustrative of the present invention and do not constitute a limitation on the scope of protection of the present invention. All designs that are the same as or similar to the present invention are within the scope of protection of the present invention.

Claims

1. A split-type radar detection device, characterized in that: The device includes a first moving device, a second moving device, a folding assembly, a detection device, and a mounting rod. Both the first and second moving devices are equipped with vertical telescopic rods. The folding assembly includes a first folding rod and a second folding rod. Both the first and second folding rods include multiple connecting rods that are rotatably connected in sequence. One end of the first folding rod is rotatably connected to the vertical telescopic rod of the first moving device, and the other end is rotatably connected to one end of the mounting rod. One end of the second folding rod is rotatably connected to the vertical telescopic rod of the second moving device, and the other end is rotatably connected to the end of the mounting rod away from the first folding rod. The detection device is equipped with a pulley. Slide rails are provided on the mounting rod, the connecting rod of the first folding rod, and the connecting rod of the second folding rod. Each slide rail is slidably engaged with the pulley of the detection device.

2. The split-type radar detection device as described in claim 1, characterized in that: The detection device includes a base and a radar mounted on the base; the base has a connecting groove that matches the mounting rod; the pulley is disposed in the connecting groove; the mounting rod is inserted into the connecting groove, and the pulley is slidably connected to the slide rail of the mounting rod.

3. The split-type radar detection device as described in claim 2, characterized in that: The base is equipped with a horizontal telescopic rod; the radar is rotatably connected to the telescopic end of the horizontal telescopic rod.

4. The split-type radar detection device as described in claim 1, characterized in that: Each of the links is rotatably connected to the adjacent link via a first rotating connector, and the rotation directions at both ends of each link are opposite.

5. The split-type radar detection device as described in claim 4, characterized in that: The first rotating connector includes a first connecting plate and a second connecting plate; the first connecting plate is provided with a first rotating shaft; the second connecting plate is provided with a first rotating hole; the second connecting plate is sleeved on the first rotating shaft through the first rotating hole; the first connecting plate and the second connecting plate are respectively fixed on two adjacent connecting rods.

6. The split-type radar detection device as described in claim 1, characterized in that: Both the first folding rod and the second folding rod are rotatably connected to the vertical telescopic rod via a second rotating connector; the second rotating connector includes a third connecting plate and a connecting column; the connecting column is provided with a second rotating shaft; the third connecting plate is provided with a second rotating hole; the third connecting plate is rotatably sleeved on the second rotating shaft through the second rotating hole; the connecting column is fixed to the top of the vertical telescopic rod; the third connecting plate is fixed to the first folding rod or the second folding rod.

7. An advanced geological exploration method, characterized in that, The split-type radar detection device according to any one of claims 1-6 includes the following steps: The split-type radar detection equipment is moved as a whole to the tunnel face to be detected, and a three-dimensional model of the tunnel space is established through the detection device, and the survey lines of the tunnel face are planned. Move the split-type radar detection equipment as a whole to the horizontal midpoint of the face to be detected; The first and second moving devices move to the left and right sides of the working face respectively, so that the first and second folding rods are fully extended, and the slide rails on the first folding rod, the second folding rod, and the mounting rod are connected to form a long track. The detection device is moved along a long track by pulleys to complete the current horizontal survey line detection according to the survey line plan of the working face; The vertical telescopic rod continues to extend until all survey lines on the working face have been completed.

8. The advanced geological exploration method as described in claim 7, characterized in that, The planning of the tunnel face survey line specifically includes: scanning the tunnel spatial structure with laser point cloud to obtain tunnel face point cloud data; calculating the normal distance from each survey point to the design cross-section mileage; generating preset survey lines at certain intervals in the horizontal direction; scoring each survey line for over-excavation and under-excavation indices; dividing the tunnel face into corresponding blocks in the horizontal direction according to the total number of survey lines, and selecting the survey line with the lowest score as the tunnel face survey line.

9. The advanced geological exploration method as described in claim 8, characterized in that, The scoring of the over-excavation and under-excavation index specifically includes: evaluating the over-excavation and under-excavation index based on the average over-excavation and under-excavation value, the variance of over-excavation and under-excavation, and the absolute value of the maximum deviation value. A = α * average over-excavation and under-excavation value + β * variance of over-excavation and under-excavation + γ * absolute value of the maximum deviation value; where α, β, and γ are weighting coefficients, which are set according to the tunnel type and quality requirements.

10. The advanced geological exploration method as described in claim 8, characterized in that, Also includes: Calculate the horizontal distance between any two pre-selected survey lines. If the horizontal distance is less than 1m, replace it with the survey line with the second-best score within the block and recalculate the distance until the distance between all selected survey lines is greater than or equal to 1m.

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