Autonomous traveling borehole omni-directional detection radar antenna

Abstract

The present application relates to the field of radar in hole, in particular to a kind of self-propelled radar antenna of all-around detection in hole.The radar antenna is overall cylindrical tube structure, inside is provided with radar detection component for geological detection, outside is provided with four Mecanum wheel groups for driving radar antenna autonomous travel.The detection action of the radar detection component and the travel action of the Mecanum wheel group are uniformly scheduled by the radar antenna control system, to realize the orderly cooperation of both in time sequence and spatial position, complete flexible collection to geological information around borehole.The radar antenna proposed in the present application can travel autonomously in borehole at variable speed, replace the traditional manual push rod propulsion mode, effectively break through the physical limit of push rod length on detection depth;At the same time, through the control system, Mecanum wheel group and scanning motor are uniformly scheduled, the flexible switching of multiple detection modes can be realized, the adaptability and detection precision of radar to different geological conditions are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of aperture radar, and more specifically to an autonomous, omnidirectional aperture radar antenna. Background Technology

[0002] In the process of underground roadway excavation in coal mines, advanced geological forecasting is a crucial link in ensuring construction safety and avoiding geological disasters. Hidden aquifers, fractured zones, and goafs ahead of the working face are major hidden dangers that could trigger water inrushes and collapses. Meanwhile, with the increasing demands for transparency in geological conditions from intelligent coal mining, accurate identification of the coal-rock interface ahead of the working face has become a core challenge restricting intelligent tunneling. In-hole radar, inserted into the pre-drilled borehole for scanning and detection, can accurately acquire the electrical differences and interface distribution characteristics of the surrounding coal-rock medium. It possesses the technical advantages of high resolution and intuitive detection, providing an effective technical means to achieve geological transparency at the tunneling face, detect anomalous geological bodies, and accurately identify coal and rock.

[0003] Currently, in horizontal borehole radar detection operations, the downhole propulsion mechanism commonly uses a pusher rod type. This type of mechanism relies on multiple rigid pusher rods connected section by section, which are pushed section by section at the borehole opening to push the radar antenna along the borehole axis to a set depth, thereby completing the scanning and acquisition of geological information around the borehole. This propulsion method has a simple structure and principle and has been widely used in short-distance borehole detection scenarios. However, as the demand for underground engineering detection develops towards ultra-long distance and great depth, the technical shortcomings of the pusher rod type propulsion mechanism are becoming increasingly prominent: on the one hand, long-distance detection requires the splicing of a large number of pusher rods, the operation process is cumbersome, the labor intensity of personnel is high, the transportation and carrying of a large number of pusher rods is difficult, and the equipment portability is poor; on the other hand, as the pushing depth increases, the weight of the pusher rod and the frictional resistance of the borehole wall increase simultaneously, the propulsion difficulty increases significantly, and it is difficult to achieve stable pushing in ultra-deep holes. More importantly, it is difficult to maintain a uniform pushing speed manually, and it is impossible to obtain the precise position and attitude information of the antenna in the hole in real time, resulting in uneven spatial distribution of the collected data and affecting the accuracy of the detection imaging. At the same time, manual pushing can only realize the unidirectional advancement and retreat of the antenna, and cannot flexibly adjust the traveling speed, hover at a fixed point, collect data in a directional manner or scan at a uniform speed according to the detection needs, making it difficult to meet the diverse detection mode needs under complex geological conditions.

[0004] Currently, although wheeled self-propelled drive mechanisms are used in pipeline inspection and well detection, existing solutions are not specifically adapted to the working conditions and motion control requirements of borehole radar detection. Therefore, there is a lack in this field of omnidirectional borehole detection radar antennas that are specifically adapted to advanced borehole drilling conditions and can achieve integrated autonomous movement and radar detection operations. Summary of the Invention

[0005] Based on the above background, the present invention provides an autonomously traveling omnidirectional detection radar antenna in a hole.

[0006] The radar antenna includes a cylindrical housing; The outer shell is provided with a transceiver compartment for transmitting and receiving electromagnetic wave signals and a data acquisition and control section for acquiring detection signals and controlling detection behavior, arranged axially inside the outer shell. The transceiver compartment is cylindrical in shape and coaxial with the outer shell, and can rotate 360° around the axis inside the outer shell; the rotation is driven by a scanning motor, which is controlled by the acquisition and control unit; the transceiver compartment is equipped with an angle sensor, which feeds back the detected angle signal to the acquisition and control unit; Four Mecanum wheel sets, namely Mecanum wheel set 1, Mecanum wheel set 2, Mecanum wheel set 3, and Mecanum wheel set 4, are axially spaced on the outer peripheral wall of the housing. The four Mecanum wheel sets are coaxially arranged, have similar structures, and have the same outer diameter, with their rims protruding from the outer surface of the housing. The four Mecanum wheel sets cooperate with each other to provide the radar antenna with forward or backward driving force. Each of the four Mecanum wheel sets is equipped with an independent drive motor, which is controlled by the data acquisition and control unit. When the radar antenna is moving and detecting, the angle sensor detects the radiation angle or rotation speed of the transceiver compartment in real time and feeds it back to the acquisition and control unit. The acquisition and control unit controls the scanning motor to drive the transceiver compartment to rotate for compensation and adjustment based on the deviation between the feedback value and the target value, so as to counteract the angle disturbance or speed disturbance caused by the axial rotation of the outer shell during the movement. The acquisition and control unit can coordinate the start / stop, speed and direction of the drive motor of each Mecanum wheel set, as well as the start / stop, direction and angle of the scanning motor, according to the preset detection mode, so as to realize multiple detection modes, including uniform speed scanning mode, speed adaptive detection mode and fixed point fine acquisition mode.

[0007] Furthermore, the first and third Mecanum wheel sets rotate in the same direction, the second and fourth Mecanum wheel sets rotate in the same direction, and adjacent sets of Mecanum wheel sets rotate in opposite directions. When the first and third Mecanum wheel sets rotate in the same direction, the second and fourth Mecanum wheel sets rotate in the same direction, and adjacent sets of Mecanum wheel sets rotate in opposite directions, and all Mecanum wheel sets rotate at the same speed, the radar antenna moves along the borehole axis in the first direction. If the rotation direction of all Mecanum wheel sets is simultaneously reversed, the radar antenna moves along the axis in the opposite direction to the first direction.

[0008] Furthermore, in the uniform speed scanning mode, the acquisition and control unit controls the four Mecanum wheel sets to rotate synchronously at a preset speed, driving the radar antenna to move at a uniform speed along the borehole axis; simultaneously, the acquisition and control unit controls the scanning motor to drive the transceiver unit to continuously rotate at a uniform speed around its own axis during the movement, continuously transmitting and receiving electromagnetic waves; the angle sensor detects the rotation angle of the transceiver unit in real time and feeds it back to the acquisition and control unit, so that the acquisition and control unit can associate and record each acquisition point with the corresponding movement position and detection azimuth angle, thereby acquiring three-dimensional geological exploration data of the 360° full space around the borehole in this section during a single advance; In the speed-adaptive detection mode, the acquisition and control unit dynamically adjusts the rotation speed of the four Mecanum wheel sets according to the changes in the echo signal. Specifically, the acquisition and control unit compares the currently acquired echo signal with the average value of the most recent echo signals. When the signal does not change significantly, the acquisition and control unit controls the four Mecanum wheel sets to drive the radar antenna forward along the borehole axis at a first speed. When the signal changes significantly, the acquisition and control unit controls the four Mecanum wheel sets to switch to a second speed, which is lower than the first speed, in order to perform fine detection of abnormal sections. In the fixed-point precision acquisition mode, the acquisition and control unit controls the four Mecanum wheel sets to brake synchronously, keeping the radar antenna at the current depth position; the angle sensor detects the current absolute angle of the transceiver compartment relative to the direction of gravity in real time and feeds it back to the acquisition and control unit; the acquisition and control unit drives the scanning motor to rotate the transceiver compartment to the target angle based on the deviation between the target detection azimuth angle and the current angle of the transceiver compartment, and at the same time uses the closed-loop feedback of the angle sensor to correct the actual angle of the transceiver compartment until the deviation is less than the preset accuracy threshold, and then performs directional or scanning detection operations.

[0009] Furthermore, the first, second, third, and fourth Mecanum gear sets all employ internal meshing gear transmission and are arranged in the same manner.

[0010] Furthermore, the outer casing at the installation location of the No. 1 Mecanum wheel set is divided into two sections: the receiving and dispatching compartment casing and the acquisition and control section casing, which are fixedly connected by fasteners. The first Mecanum wheel set includes a drive motor, a pinion, an outer ring, and two Mecanum wheel support bearings. The outer ring is annular, with internal teeth on its inner wall, forming an internal gear structure. The drive motor is fixedly installed inside the acquisition and control section housing, and its output shaft is fixedly connected to the pinion. The pinion is an external gear that meshes with the internal teeth inside the outer ring. The outer ring is rotatably supported on the outside of the transceiver housing and the acquisition and control section housing, respectively, by the two Mecanum wheel support bearings, and can rotate freely relative to the transceiver housing and the acquisition and control section housing. When the drive motor is energized and rotates, its output shaft drives the pinion to rotate. Through the meshing transmission between the pinion and the outer ring, the outer ring is driven to rotate around its own axis, thereby realizing the rotation of the first Mecanum wheel set relative to the housing.

[0011] Furthermore, the acquisition and control section housing has a protrusion at one end near the transceiver housing; the protrusion extends axially and abuts against the right end face of the transceiver housing, and is fixedly connected by screws; the protrusion has a through hole axially inside for accommodating the wire connecting the transceiver housing and the acquisition and control section.

[0012] Furthermore, the transceiver compartment includes a transmitting compartment for transmitting electromagnetic wave signals and a receiving compartment for receiving electromagnetic wave signals. The transmitting compartment and the receiving compartment are fixedly connected as a whole by a transceiver compartment connector made of non-metallic material. The transceiver compartment is rotatably supported inside the outer shell by scanning support bearings at its left and right ends, wherein the inner ring of the scanning support bearing is fixedly connected to the transceiver compartment and the outer ring of the scanning support bearing is fixedly connected to the outer shell. The transceiver compartment is driven to rotate by the scanning motor. The body of the scanning motor is fixedly connected to the transceiver compartment, and the output shaft of the scanning motor is fixedly connected to the outer casing.

[0013] Furthermore, the housing also includes a power supply section for power supply. Both the power supply section and the acquisition and control section are fixedly installed inside the housing and do not rotate with the transceiver compartment. A slip ring is provided between the transceiver compartment and the acquisition and control section. The rotor of the slip ring is fixedly connected to the transceiver compartment and rotates synchronously with it, while the stator of the slip ring is fixedly connected to the housing. The transceiver compartment is electrically connected to the acquisition and control section and the power supply section through the slip ring. The radar antenna also includes an external cable, one end of which is connected to the tail of the radar antenna, and the other end extends along the borehole to the outside of the borehole, for signal transmission between the radar antenna and the radar host during deep hole detection.

[0014] The main beneficial effects of this invention are: This invention integrates four Mecanum wheel sets coaxially onto a cylindrical radar housing and equips them with independent drive motors, enabling the radar to move autonomously forward, backward, and at varying speeds within the borehole. This completely replaces the traditional manual push rod propulsion method, effectively overcoming the physical limitations of push rod length on detection depth, and is suitable for radar detection operations in ultra-long-distance boreholes.

[0015] This invention uses a built-in control system in the acquisition and control section to uniformly schedule the Mecanum wheel set and the scanning motor, enabling multiple detection modes such as uniform speed scanning, speed adaptive detection, and fixed-point fine acquisition. The working mode can be flexibly switched according to actual geological conditions and detection needs, significantly improving the radar's adaptability to different detection scenarios. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0017] Figure 1 This is a simplified overall structural diagram of an autonomous, omnidirectional detection radar antenna with an aperture, as described in an embodiment of the present invention.

[0018] Figure 2 This is a simplified structural diagram of the receiving and dispatching compartment in an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram showing the rotation and steering relationship of the four Mecanum wheel sets in an embodiment of the present invention.

[0020] Figure 4 This is a cross-sectional view of the first Mecanum wheel assembly in an embodiment of the present invention.

[0021] Figure 5 This is an isometric view of the No. 1 Mecanum wheel assembly in an embodiment of the present invention.

[0022] In the diagram: 11-Mecanum wheel set 1; 12-Mecanum wheel set 2; 13-Mecanum wheel set 3; 14-Mecanum wheel set 4; 21-Transmitter compartment; 22-Acquisition and control section; 23-Power supply section; 24-Outer casing; 25-External cable; 111-Drive motor; 211-Scanning motor; 212-Transmitter compartment; 213-Receiver compartment; 214-Scanning support bearing; 215-Transmitter compartment connector; 216-Angle sensor; 217-Slip ring; 112-Pin gear; 113-Outer rim of wheel; 114-Mecanum wheel support bearing; 241-Transmitter compartment outer casing; 242-Acquisition and control section outer casing; 2421-Protrusion; 2422-Cable hole. Detailed Implementation

[0023] The technical solution of the present invention will now be clearly and completely described in conjunction with the accompanying drawings. It should be noted that the terms "left," "right," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present 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, and therefore should not be construed as a limitation of the present invention; in addition, the terms "number one," "number two," "number three," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] This invention provides an autonomous, omnidirectional borehole detection radar antenna. The antenna has a cylindrical tubular structure, housing an internal radar detection component for geological exploration, and four Mecanum wheels spaced apart externally to drive its autonomous movement. The detection actions of the radar detection component and the movement of the Mecanum wheels are uniformly coordinated by the radar antenna control system to achieve orderly coordination in both time and spatial position, enabling flexible acquisition of geological information around the borehole.

[0025] like Figures 1 to 2As shown, the radar antenna housing 24 is cylindrical, and the detection components inside are arranged axially, including a transceiver compartment 21 for transmitting and receiving electromagnetic wave signals, a data acquisition and control section 22 for acquiring detection signals and controlling detection behavior, and a power supply section 23 for power supply. Four Mecanum wheel sets are axially spaced on the outer peripheral wall of the housing 24, namely Mecanum wheel set 11, Mecanum wheel set 12, Mecanum wheel set 13, and Mecanum wheel set 14. These four Mecanum wheel sets are coaxially arranged, have the same structure and size, and their rims protrude from the outer surface of the housing 24 for contact with the borehole wall. Each of the four Mecanum wheel sets is equipped with an independent drive motor 111. Mecanum wheel set 11 and Mecanum wheel set 13 rotate in the same direction, Mecanum wheel set 12 and Mecanum wheel set 14 rotate in the same direction, and adjacent sets of Mecanum wheel sets rotate in opposite directions.

[0026] It should be noted that the rotation direction of the Mecanum wheel set is determined by the tilt direction of the rollers arranged obliquely on its rim. The Mecanum wheel with the rollers tilted in one direction is a left (or right) rotating wheel, and the Mecanum wheel with the rollers tilted in the opposite direction is a right (or left) rotating wheel. The two are mirror images of each other.

[0027] The transceiver compartment 21 includes a transmitting compartment 212 for transmitting electromagnetic wave signals and a receiving compartment 213 for receiving electromagnetic wave signals. These two compartments are fixedly connected as a whole by a non-metallic transceiver connector 215. The transceiver compartment 21 is cylindrical in shape, with its left and right ends rotatably supported within the outer casing 24 by scanning support bearings 214. The inner ring of the scanning support bearing 214 is fixedly connected to the transceiver compartment 21, and the outer ring is fixedly connected to the outer casing 24, allowing the transceiver compartment 21 to rotate freely relative to the outer casing 24 about its own axis. The transceiver compartment 21 is driven to rotate by a scanning motor 211. The body of the scanning motor 211 is fixedly connected to the transceiver compartment 21, and the output shaft of the scanning motor 211 is fixedly connected to the outer casing 24. When the scanning motor 211 is powered on, its output shaft rotates relative to the housing 24. Since the output shaft is fixed relative to the housing 24, the body of the scanning motor 211 drives the transceiver compartment 21 to rotate around its own axis relative to the housing 24. An angle sensor 216 is also provided at the right end of the transceiver compartment 21 to detect the absolute rotation angle of the transceiver compartment 21 relative to the direction of gravity in real time. The signal output terminal of the angle sensor 216 is electrically connected to the acquisition and control unit 22 to feed back the detected angle signal to the acquisition and control unit 22 for calculation and determination of the current detection azimuth angle of the radar antenna.

[0028] The transceiver compartment 21 is rotatable relative to the outer casing 24. The acquisition and control section 22 and the power supply section 23 are fixedly installed inside the outer casing 24 and do not rotate with the transceiver compartment 21. A slip ring 217 is provided at the rightmost end of the transceiver compartment 21. The rotor of the slip ring 217 is fixedly connected to the transceiver compartment 21 and rotates synchronously with it. The stator of the slip ring 217 is fixedly connected to the outer casing 24. The transceiver compartment 21 is electrically connected to the acquisition and control section 22 and the power supply section 23 through the slip ring 217, maintaining the continuity of power supply and signal transmission even when the transceiver compartment 21 continues to rotate. An external cable 25 is also provided at the end of the radar antenna. The external cable 25 extends along the drill hole to the outside of the hole opening and is used to realize signal transmission between the radar antenna and the radar host during deep hole detection.

[0029] Optionally, the external cable 25 can also be replaced with a wireless transmission module to realize wireless data communication between the radar antenna and the radar host. Those skilled in the art can choose to configure one or both of the external cable 25 and the wireless transmission module according to the actual detection depth and signal transmission quality: when the drilling depth is shallow or the transmission conditions are good, the wireless transmission module is preferred for signal transmission to eliminate the impact of the dragging resistance of the external cable 25 in the hole on the stability of the radar antenna movement; when the drilling depth is large or there is signal obstruction, the reliability of signal transmission can be ensured through the external cable 25.

[0030] like Figure 3 As shown, when the first Mecanum wheel set 11 and the third Mecanum wheel set 13 are in the same direction, the second Mecanum wheel set 12 and the fourth Mecanum wheel set 14 are in the same direction, adjacent Mecanum wheel sets are in opposite directions, and all Mecanum wheel sets rotate at the same speed, the radar antenna moves along the borehole axis in the first direction; if the direction of rotation of each Mecanum wheel set is simultaneously reversed, the radar antenna moves along the axis in the opposite direction to the first direction.

[0031] All four Mecanum gear sets employ internal gear transmission, and their internal structures are identical. For ease of description, this embodiment uses Mecanum gear set 11 as an example. The structures of Mecanum gear sets 12, 13, and 14 are identical, with only the corresponding reference numerals adjusted sequentially.

[0032] like Figure 4 and Figure 5As shown, in this embodiment, the housing 24 at the mounting position of the first Mecanum wheel set 11 is divided into two sections: a transceiver housing 241 and a data acquisition and control housing 242, which are fixedly connected by fasteners. A protrusion 2421 is provided at one end of the data acquisition and control housing 242 near the transceiver housing 241. The protrusion 2421 extends axially and abuts against the right end face of the transceiver housing 241, and the two are fixedly connected by screws. A through-hole 2422 is provided axially inside the protrusion 2421 to accommodate the wire connecting the transceiver housing 21 and the data acquisition and control section 22.

[0033] The first Mecanum wheel set 11 includes a drive motor 111, a pinion 112, an outer wheel ring 113, and two Mecanum wheel support bearings 114. The outer wheel ring 113 is generally annular, with internal teeth on its inner wall, forming an internal gear structure. The drive motor 111 is fixedly installed inside the acquisition and control section housing 242, and the pinion 112 is fixedly connected to its output shaft end. The pinion 112 is an external gear that meshes with the internal teeth of the outer wheel ring 113. The outer wheel ring 113 is rotatably supported on the outside of the transceiver housing 241 and the acquisition and control section housing 242 by the two Mecanum wheel support bearings 114, allowing the outer wheel ring 113 to rotate freely relative to the transceiver housing 241 and the acquisition and control section housing 242. When the drive motor 111 is powered on and rotates, its output shaft drives the pinion 112 to rotate. Through the meshing transmission between the pinion 112 and the inner teeth of the outer ring 113, the outer ring 113 is driven to rotate around its own axis, thereby realizing the rotation of the first Mecanum wheel set 11 relative to the outer shell 24.

[0034] The acquisition and control unit 22 has a built-in control system, which is electrically connected to the drive motors 111, scanning motors 211, and angle sensors 216 of the four Mecanum wheel sets, respectively, and can uniformly schedule the movement and detection actions of the radar antenna. By coordinating the start / stop, speed, and direction of each drive motor 111, as well as the start / stop, direction, and angle of the scanning motor 211, the control system can achieve the following detection modes:

[0035] (1) Uniform speed scanning mode When it is necessary to perform a full-range geological scan of a certain section of the borehole, the control system controls the four Mecanum wheel sets to rotate synchronously at a preset speed, driving the radar antenna to move at a uniform speed along the borehole axis; at the same time, the control system controls the scanning motor 211 to drive the transceiver compartment 21 to continuously rotate at a uniform speed around its own axis during the movement, continuously transmitting and receiving electromagnetic waves; the angle sensor 216 detects the rotation angle of the transceiver compartment 21 in real time and feeds it back to the control system, so that the control system can associate and record each acquisition point with the corresponding movement position and detection azimuth angle, thereby obtaining three-dimensional geological exploration data of the 360° full space around the borehole in a single advance process.

[0036] (2) Speed ​​Adaptive Detection Mode When geological exploration is required in a certain section of the borehole, the control system dynamically adjusts the travel speed of the four Mecanum wheel sets according to the changes in the echo signal collected in real time by the radar antenna detection component. Specifically, the control system compares the currently collected echo signal with the average value of the most recent echo signals. When there is no significant change in the signal, the control system controls the Mecanum wheel sets to drive the radar antenna forward along the borehole axis at a first speed. When there is a significant change in the signal, the control system controls the Mecanum wheel sets to switch to a second speed, which is less than the first speed, so as to reduce the speed for detailed exploration of abnormal sections and improve the detection density and data resolution of the area.

[0037] (3) Fixed-point fine acquisition mode: When fine detection is required at a specific depth within the borehole, the control system controls the four Mecanum wheel sets to brake synchronously, keeping the radar antenna at the current depth position. The angle sensor 216 detects the absolute angle of the transceiver compartment 21 relative to the direction of gravity in real time and feeds it back to the control system. Based on the deviation between the target detection azimuth angle and the current detection angle of the transceiver compartment 21, the control system drives the scanning motor 211 to rotate the transceiver compartment 21 to the target angle. At the same time, the closed-loop feedback of the angle sensor 216 is used to correct the actual angle of the transceiver compartment 21 until the deviation is less than a preset accuracy threshold, at which point the transceiver compartment 21 is triggered to perform detection and acquisition.

[0038] It should be noted that during the reciprocating motion of the radar antenna along the borehole axis, the rotation of the four Mecanum wheels causes the outer casing 24 to rotate axially, thereby disturbing the radiation angle of the transceiver compartment 21. When the radar antenna is in directional detection mode, the angle sensor 216 monitors the current radiation angle of the transceiver compartment 21 in real time and feeds it back to the control system. The control system controls the scanning motor 211 to drive the transceiver compartment 21 to rotate in the opposite direction by a corresponding angle based on the deviation between the current radiation angle and the target radiation angle, in order to counteract the external disturbance and keep the actual beam pointing at the target detection azimuth. When the radar antenna is in uniform scanning mode, the angle sensor 216 monitors the rotation speed of the transceiver compartment 21 in real time and feeds it back to the control system. The control system controls the scanning motor 211 to adjust the output speed in real time based on the deviation between the current rotation speed and the target rotation speed, in order to counteract the speed disturbance caused by the axial rotation of the outer casing 24 during the motion, ensuring that the scanning speed of the transceiver compartment 21 remains uniform, thereby ensuring the uniformity of the spatial distribution of the collected data in the circumferential direction.

[0039] The above detailed description is a specific description of feasible embodiments of the present invention. These embodiments are not intended to limit the patent scope of the present invention. All equivalent implementations or modifications that do not depart from the present invention should be included in the patent scope of this case.

Claims

1. A self-propelled, aperture-based omnidirectional detection radar antenna, characterized in that: The radar antenna includes a cylindrical housing (24). The outer shell (24) has a transceiver compartment (21) for transmitting and receiving electromagnetic wave signals and a data acquisition and control section (22) for acquiring detection signals and controlling detection behavior arranged along the axial direction inside. The transceiver compartment (21) is cylindrical in shape and coaxial with the outer shell (24), and can rotate 360° around the axis inside the outer shell (24); the rotation is driven by a scanning motor (211), which is controlled by the acquisition and control unit (22); the transceiver compartment (21) is equipped with an angle sensor (216), which feeds back the detected angle signal to the acquisition and control unit (22). Four Mecanum wheel sets are axially spaced on the outer peripheral wall of the outer casing (24), namely Mecanum wheel set No. 1 (11), Mecanum wheel set No. 2 (12), Mecanum wheel set No. 3 (13) and Mecanum wheel set No. 4 (14). The four Mecanum wheel sets are coaxially arranged, have similar structures, and have the same outer diameter. Their wheel rims all protrude from the outer surface of the outer casing (24). The four Mecanum wheel sets cooperate with each other to provide the radar antenna with forward or backward driving force. Each of the four Mecanum wheel sets is equipped with an independent drive motor (111), and the drive motor (111) is controlled by the acquisition and control part (22). When the radar antenna is moving and detecting, the angle sensor (216) detects the radiation angle or rotation speed of the transceiver compartment (21) in real time and feeds it back to the acquisition and control section (22). The acquisition and control section (22) controls the scanning motor (211) to drive the transceiver compartment (21) to rotate for compensation adjustment based on the deviation between the feedback value and the target value, so as to offset the angle disturbance or speed disturbance caused by the axial rotation of the outer shell (24) during the movement. The acquisition and control unit (22) can coordinate the start-stop, speed and direction of the drive motor (111) of each Mecanum wheel set, as well as the start-stop, direction and angle of the scanning motor (211) according to the preset detection mode, so as to realize multiple detection modes, including uniform speed scanning mode, speed adaptive detection mode and fixed point fine acquisition mode.

2. The autonomously traveling aperture-type omnidirectional detection radar antenna according to claim 1, characterized in that: The first Mecanum wheel set (11) and the third Mecanum wheel set (13) rotate in the same direction, the second Mecanum wheel set (12) and the fourth Mecanum wheel set (14) rotate in the same direction, and the rotation directions of adjacent sets of Mecanum wheels are opposite. When the first Mecanum wheel set (11) and the third Mecanum wheel set (13) rotate in the same direction, the second Mecanum wheel set (12) and the fourth Mecanum wheel set (14) rotate in the same direction, and the adjacent sets of Mecanum wheels rotate in opposite directions, and all Mecanum wheels rotate at the same speed, the radar antenna moves along the borehole axis in the first direction. If the rotation direction of each Mecanum wheel set is reversed at the same time, the radar antenna moves along the axis in the opposite direction to the first direction.

3. The autonomously traveling omnidirectional detection radar antenna in a hole according to claim 1, characterized in that: In the uniform speed scanning mode, the acquisition and control unit (22) controls the four Mecanum wheel sets to rotate synchronously at a preset speed, driving the radar antenna to move at a uniform speed along the borehole axis; at the same time, the acquisition and control unit (22) controls the scanning motor (211) to drive the transceiver unit (21) to continuously rotate at a uniform speed around its own axis during the movement, continuously transmitting and receiving electromagnetic waves; the angle sensor (216) detects the rotation angle of the transceiver unit (21) in real time and feeds it back to the acquisition and control unit (22), so that the acquisition and control unit (22) can associate and record each acquisition point with the corresponding movement position and detection azimuth angle, thereby obtaining three-dimensional geological exploration data of the 360° full space around the borehole in this section during a single advance; In the speed adaptive detection mode, the acquisition and control unit (22) dynamically adjusts the rotation speed of the four Mecanum wheel sets according to the changes in the echo signal. Specifically, the acquisition and control unit (22) compares the currently acquired echo signal with the average value of the most recent echo signals. When there is no significant change in the signal, the acquisition and control unit (22) controls the four Mecanum wheel sets to drive the radar antenna forward along the borehole axis at a first speed. When there is a significant change in the signal, the acquisition and control unit (22) controls the four Mecanum wheel sets to switch to a second speed, which is less than the first speed, in order to perform fine detection of abnormal sections. In the fixed-point fine acquisition mode, the acquisition and control part (22) controls the four Mecanum wheel sets to brake synchronously, so that the radar antenna remains at the current depth position; The angle sensor (216) detects the absolute angle of the transceiver compartment (21) relative to the direction of gravity in real time and feeds it back to the acquisition and control section (22). The acquisition and control section (22) drives the scanning motor (211) to rotate the transceiver compartment (21) to the target angle based on the deviation between the target detection azimuth angle and the current angle of the transceiver compartment (21). At the same time, the closed-loop feedback of the angle sensor (216) is used to correct the actual angle of the transceiver compartment (21) until the deviation is less than the preset accuracy threshold, and then the orientation or scanning detection operation is performed.

4. The autonomously traveling aperture-type omnidirectional detection radar antenna according to claim 1, characterized in that: The first Mecanum gear set (11), the second Mecanum gear set (12), the third Mecanum gear set (13), and the fourth Mecanum gear set (14) all adopt the transmission method of internal meshing gears and are arranged in the same way.

5. The autonomously traveling aperture-type omnidirectional detection radar antenna according to claim 4, characterized in that: The housing (24) at the installation position of the No. 1 Mecanum wheel set (11) is divided into two sections: the receiving and dispatching compartment housing (241) and the acquisition and control section housing (242), which are fixedly connected by fasteners. The first Mecanum wheel set (11) includes the drive motor (111), a pinion (112), an outer ring (113), and two Mecanum wheel support bearings (114). The outer ring (113) is annular, with internal teeth on its inner ring wall, forming an internal gear structure. The drive motor (111) is fixedly installed inside the housing (242) of the acquisition and control section, and its output shaft is fixedly connected to the pinion (112). The pinion (112) is an external gear that meshes with the internal teeth inside the outer ring (113). The outer ring (113) is connected to the two Mecanum wheel support bearings (114). The wheel support bearing (114) is rotatably supported on the outside of the transceiver housing (241) and the acquisition and control housing (242), respectively, and can rotate freely relative to the transceiver housing (241) and the acquisition and control housing (242). When the drive motor (111) is powered on and rotates, its output shaft drives the pinion (112) to rotate. Through the meshing transmission between the pinion (112) and the outer ring (113), the outer ring (113) is driven to rotate around its own axis, thereby realizing the rotation of the No. 1 Mecanum wheel set (11) relative to the housing (24).

6. The autonomously traveling aperture-type omnidirectional detection radar antenna according to claim 5, characterized in that: The acquisition and control section housing (242) has a protrusion (2421) at one end near the transceiver housing (241); the protrusion (2421) extends axially and abuts against the right end face of the transceiver housing (241) and is fixedly connected by screws; the protrusion (2421) has a through wire hole (2422) axially inside for accommodating the wire connecting the transceiver section (21) and the acquisition and control section (22).

7. The autonomously traveling aperture-type omnidirectional detection radar antenna according to claim 1, characterized in that: The transceiver compartment (21) includes a transmitting compartment (212) for transmitting electromagnetic wave signals and a receiving compartment (213) for receiving electromagnetic wave signals. The transmitting compartment (212) and the receiving compartment (213) are fixedly connected as a whole by a transceiver compartment connector (215) made of non-metallic material. The left and right ends of the transceiver compartment (21) are rotatably supported inside the outer shell (24) by scanning support bearings (214), wherein the inner ring of the scanning support bearing (214) is fixedly connected to the transceiver compartment (21), and the outer ring of the scanning support bearing (214) is fixedly connected to the outer shell (24). The transceiver compartment (21) is driven to rotate by the scanning motor (211). The body of the scanning motor (211) is fixedly connected to the transceiver compartment (21), and the output shaft of the scanning motor (211) is fixedly connected to the outer shell (24).

8. The autonomously traveling aperture-type omnidirectional detection radar antenna according to claim 1, characterized in that: The outer casing (24) is also provided with a power supply section (23) for power supply. The power supply section (23) and the acquisition and control section (22) are both fixedly installed inside the outer casing (24) and do not rotate with the transceiver section (21). A slip ring (217) is provided between the transceiver section (21) and the acquisition and control section (22). The rotor of the slip ring (217) is fixedly connected to the transceiver section (21) and rotates synchronously with it. The stator of the slip ring (217) is fixedly connected to the outer casing (24). The transceiver section (21) is electrically connected to the acquisition and control section (22) and the power supply section (23) through the slip ring (217). The radar antenna also includes an external cable (25), one end of which is connected to the tail of the radar antenna and the other end extends along the borehole to the outside of the borehole, for the purpose of enabling signal transmission between the radar antenna and the radar host during deep hole detection.

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