Coal seam roof ground-penetrating radar detection device

Abstract

This utility model discloses a ground-penetrating radar (GPR) detection device for coal seam roof, comprising: a traveling device, a trolley frame, a data control computer, a radar electromagnetic wave transmitter, a signal receiver, a hydraulic mechanism, a ranging instrument, and a collision avoidance device. The trolley frame is fixed to the traveling device, and the data control computer, signal receiver, hydraulic mechanism, and ranging instrument are fixed to the trolley frame. The radar electromagnetic wave transmitter is fixedly connected to the moving end of the hydraulic mechanism. The radar electromagnetic wave transmitter, signal receiver, and ranging instrument are communicatively connected to the data control computer. The collision avoidance device is fixed to the front or rear end of the trolley frame. This utility model uses ground-penetrating radar to detect the roof fracturing effect. Ground-penetrating radar effectively ensures the real-time and accuracy of the received data, enabling long-term dynamic monitoring without blind spots. It can achieve continuous and large-area surface monitoring of horizontal segmented fracturing of long-distance directional boreholes in the roof.

Description

Technical Field

[0001] This utility model relates to the field of coal mining technology, and in particular to a geological radar detection device for coal seam roof. Background Technology

[0002] Rockburst accidents account for a large proportion of coal mine accidents in my country, seriously threatening the safe production of mines. In particular, the roof is thick, strong, solid, dense, and has poorly developed joints and fissures. The roof pressure is high during underground mining, making it more prone to accidents and causing rockburst disasters.

[0003] Through the unremitting efforts and research of scholars, the commonly used pressure relief method is the horizontal drilling pressure relief method. This method involves drilling holes in the roof or the top layer of rock to release underground stress or gas pressure, thereby reducing the pressure on the roof. The holes are driven into the mine roof or the upper layer of rock, and water, gas or other fluids are discharged through the holes to reduce the pressure in the holes, thus achieving the pressure relief effect. The horizontal drilling pressure relief method can effectively reduce the roof pressure and prevent the roof pressure from suddenly increasing and causing roof accidents.

[0004] The effectiveness of roof stress relief can be assessed by monitoring crack morphology. Currently, two commonly used fracturing effect monitoring technologies include borehole inspection monitoring and transient electromagnetic monitoring.

[0005] Borehole inspection monitoring is a method that uses inspection equipment (such as endoscopes and cameras) inside a borehole to directly observe the underground fracturing process and fracture propagation. It can directly observe the morphology, size, location, and distribution of underground fractures, providing intuitive information on fracture propagation, high spatial resolution, and precise monitoring of fracture changes during fracturing. However, it requires drilling in the fracturing area for equipment installation, which is costly, especially in deep or complex geological conditions. Drilling consumes significant time and resources and only allows for detailed observation of localized areas, limiting its monitoring range for large-scale fracturing effects. Transient electromagnetic (TEM) monitoring detects the propagation and morphology of underground fractures by emitting electromagnetic waves into the ground and receiving reflected signals. TEM can be used for large-scale underground detection without drilling or contact with the underground medium, avoiding the interference and costs associated with drilling. However, compared to borehole inspection, TEM has lower spatial resolution, cannot provide very detailed fracture structure information, and complex geological environments can lead to significant data errors. In large-scale monitoring, geological conditions may affect monitoring blind spots, resulting in inaccurate results. Utility Model Content

[0006] Therefore, it is necessary to provide a ground-penetrating radar detection device for coal seam roof to address the technical problem that existing technologies cannot effectively and accurately assess the fracturing effect of coal seam roof.

[0007] This utility model provides a geological radar detection device for coal seam roof, comprising: a traveling device, a traveling frame, a data control computer, a radar electromagnetic wave transmitting device, a signal receiving device, a hydraulic mechanism, a ranging instrument, and an anti-collision device. The traveling frame is fixed on the traveling device, the data control computer, the signal receiving device, the hydraulic mechanism, and the ranging instrument are fixed on the traveling frame, the radar electromagnetic wave transmitting device is fixedly connected to the moving end of the hydraulic mechanism, the radar electromagnetic wave transmitting device, the signal receiving device, the ranging instrument are communicatively connected to the data control computer, and the anti-collision device is fixed to the front or rear end of the traveling frame.

[0008] Furthermore, it also includes a transmitting antenna that is fixedly connected to the radar electromagnetic wave transmitting device.

[0009] Furthermore, it also includes a hydraulic storage tank connected to the hydraulic mechanism via an oil pipe, the hydraulic storage tank being fixed to the overhead crane frame.

[0010] Furthermore, it also includes a hydraulic industrial control computer for controlling the hydraulic mechanism, the hydraulic industrial control computer being fixed on the overhead crane frame.

[0011] Furthermore, the hydraulic mechanism is fixed to the top of the hydraulic storage tank.

[0012] Furthermore, the detection direction of the ranging instrument is directed towards the front of the vehicle frame.

[0013] Furthermore, the detection direction of the signal receiving device is directed upwards towards the overhead crane frame.

[0014] Furthermore, the data control computer includes a real-time processing and analysis module that is communicatively connected to the signal receiving device and the ranging instrument.

[0015] Furthermore, the industrial control computer includes a data analysis module that is communicatively connected to the radar electromagnetic wave transmitting device and the signal receiving device.

[0016] Furthermore, the anti-collision device includes an anti-collision bar and a spring, one end of which is fixedly connected to the anti-collision bar, and the other end is fixedly connected to the front or rear end of the vehicle frame.

[0017] This invention utilizes a walking device for movement, simultaneously emitting electromagnetic waves via a radar electromagnetic wave transmitter and receiving reflected signals via a signal receiver. The data is processed and analyzed by an industrial control computer, and safety is ensured in the complex environment of tunnels by adding ranging instruments and anti-collision devices. This invention employs ground-penetrating radar to detect the effect of roof fracturing. Ground-penetrating radar effectively ensures the real-time and accuracy of the received data, enabling long-term dynamic monitoring without blind spots. It allows for continuous, large-area surface monitoring of horizontal segmented fracturing of long-distance directional boreholes in the roof. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a geological radar detection device for coal seam roof according to an embodiment of the present invention;

[0019] Figure 2 Schematic diagram of spatial angle design for ground-penetrating radar detection;

[0020] Figure 3 This is a cross-sectional view of the horizontal segmented fracturing effect obtained from ground-penetrating radar.

[0021] Marker description

[0022] 1. Walking device; 2. Overhead frame; 3. Data control computer; 31. Real-time processing and analysis module; 32. Data analysis module; 4. Radar electromagnetic wave transmitting device; 5. Signal receiving device; 6. Hydraulic mechanism; 7. Rangefinder; 8. Collision avoidance device; 81. Collision avoidance bar; 9. Transmitting antenna; 10. Oil pipe; 11. Hydraulic storage tank; 12. Hydraulic control computer. Detailed Implementation

[0023] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings. Identical components are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "up," and "down" used in the following description refer to directions in the accompanying drawings, while the terms "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0024] like Figure 1The diagram shows a structural schematic of a coal seam roof geological radar detection device according to an embodiment of the present invention. The device includes: a traveling device 1, a traveling frame 2, a data control computer 3, a radar electromagnetic wave transmitting device 4, a signal receiving device 5, a hydraulic mechanism 6, a ranging instrument 7, and an anti-collision device 8. The traveling frame 2 is fixed to the traveling device 1. The data control computer 3, the signal receiving device 5, the hydraulic mechanism 6, and the ranging instrument 7 are fixed to the traveling frame 2. The radar electromagnetic wave transmitting device 4 is fixedly connected to the moving end of the hydraulic mechanism 6. The radar electromagnetic wave transmitting device 4, the signal receiving device 5, and the ranging instrument 7 are communicatively connected to the data control computer 3. The anti-collision device 8 is fixed to the front or rear end of the traveling frame 2.

[0025] Specifically, the coal seam roof ground-penetrating radar detection device in this embodiment is used for evaluating the fracturing effect of the coal seam roof. The walking device 1 is a wheeled device, which can be manually pushed or driven by a drive motor. A traveling frame 2 is fixedly connected to the walking device 1. The traveling frame 2 is preferably a truss structure. The traveling frame 2 serves as an installation platform, and a data control computer 3, a signal receiving device 5, a hydraulic mechanism 6, and a ranging instrument 7 are fixedly connected to the traveling frame 2.

[0026] Hydraulic mechanism 6 is an existing hydraulic drive device. The moving end of hydraulic mechanism 6 moves by hydraulic drive. The radar electromagnetic wave emitting device 4 is fixedly connected to the moving end of hydraulic mechanism 6, thereby driving the radar electromagnetic wave emitting device 4 to move and change the position of the radar electromagnetic wave emitting device 4.

[0027] In some embodiments, the hydraulic mechanism 6 is a hydraulic lifting and rotating device. The moving end of the hydraulic mechanism 6 is hydraulically driven to move up and down or rotate by an angle, thereby driving the radar electromagnetic wave emitting device 4 to move up and down or rotate by an angle.

[0028] Anti-collision devices 8 are fixedly connected to the front or rear end of the traveling frame 2. As the coal seam roof geological radar detection device moves through the roadway, collisions are avoided due to the complex environment.

[0029] Fixed connections include, but are not limited to, welding and bolting.

[0030] The radar electromagnetic wave transmitter 4, signal receiver 5, and ranging instrument 7 are connected to the data control computer 3 for communication. The communication connection can be wired or wireless.

[0031] Among them, the distance measuring instrument 7 measures the distance to obstacles in the direction of travel and displays it on the data industrial control computer 3.

[0032] The ground-penetrating radar primarily emits electromagnetic waves through a radar electromagnetic wave transmitter 4, which is preferably a high-frequency pulse transmitter. After reflection, the electromagnetic waves are received by a signal receiver 5, and the reflected signals are processed and analyzed by a data control computer 3 using existing radar electromagnetic wave signal processing methods.

[0033] This invention utilizes a walking device for movement, simultaneously emitting electromagnetic waves via a radar electromagnetic wave transmitter and receiving reflected signals via a signal receiver. The data is processed and analyzed by an industrial control computer, and safety is ensured in the complex environment of tunnels by adding ranging instruments and anti-collision devices. This invention employs ground-penetrating radar to detect the effect of roof fracturing. Ground-penetrating radar effectively ensures the real-time and accuracy of the received data, enabling long-term dynamic monitoring without blind spots. It allows for continuous, large-area surface monitoring of horizontal segmented fracturing of long-distance directional boreholes in the roof.

[0034] like Figure 1 The diagram shown is a structural schematic of a coal seam roof geological radar detection device according to another embodiment of the present invention. It includes: a traveling device 1, a traveling frame 2, a data control computer 3, a radar electromagnetic wave transmitting device 4, a signal receiving device 5, a hydraulic mechanism 6, a ranging instrument 7, a collision avoidance device 8, a transmitting antenna 9, oil pipes 10, a hydraulic storage tank 11, and a hydraulic control computer 12. The traveling frame 2 is fixed to the traveling device 1. The data control computer 3, the signal receiving device 5, the hydraulic mechanism 6, and the ranging instrument 7 are fixed to the traveling frame 2. The radar electromagnetic wave transmitting device 4 is fixedly connected to the moving end of the hydraulic mechanism 6. The radar electromagnetic wave transmitting device 4, the signal receiving device 5, and the ranging instrument 7 are communicatively connected to the data control computer 3. The anti-collision device 8 is fixed to the front or rear end of the traveling frame 2. The transmitting antenna 9 is fixedly connected to the radar electromagnetic wave transmitting device 4. The hydraulic storage tank 11 is connected to the hydraulic mechanism 6 through the oil pipe 10. The hydraulic storage tank 11 is fixed to the traveling frame 2. The hydraulic mechanism 6 is fixed to the top of the hydraulic storage tank 11. The hydraulic industrial control computer 12 is fixed to the traveling frame 2 and controls the hydraulic mechanism 6. The detection direction of the ranging instrument 7 is facing the front of the traveling frame 2. The detection direction of the signal receiving device 5 is facing the top of the traveling frame 2. The anti-collision device 8 includes an anti-collision bar 81 and a spring. One end of the spring is fixedly connected to the anti-collision bar 81, and the other end is fixedly connected to the front or rear end of the traveling frame 2.

[0035] The data industrial control computer 3 includes a real-time processing and analysis module 31 that is communicatively connected to the signal receiving device 5 and the ranging instrument 7, and a data analysis module 32 that is communicatively connected to the radar electromagnetic wave transmitting device 4 and the signal receiving device 5.

[0036] Specifically, the transmitting antenna 9 is fixedly connected to the radar electromagnetic wave transmitting device 4 to improve signal strength. The hydraulic storage tank 11 supplies hydraulic oil to the hydraulic mechanism 6 via oil pipe 10. The hydraulic control computer 12 uses existing hydraulic control methods to control the hydraulic mechanism 6. For example, it controls the up-and-down movement and / or rotation angle of the moving end of the hydraulic mechanism 6. Meanwhile, the anti-collision device 8 includes an anti-collision bar 81 and a spring. One end of the spring is fixedly connected to the anti-collision bar 81, and the other end is fixedly connected to the front or rear end of the traveling frame 2. The spring provides cushioning to prevent the traveling frame 2 from colliding in the complex environment of the tunnel, thus affecting the measurement of the instrument.

[0037] Ground-penetrating radar primarily emits electromagnetic waves through a radar electromagnetic wave transmitter 4, preferably a high-frequency pulse transmitter 4, which emits high-frequency pulse electromagnetic waves. After reflection, the electromagnetic waves are received by a signal receiver 5, and the data control computer 3 processes and analyzes the reflected signals using existing radar electromagnetic wave signal processing methods. This analysis transforms the reflected signals into information such as the expansion of underground fractures, the conductivity of fractures, and the flow of fracturing fluid to evaluate the effectiveness of the fracturing process.

[0038] The real-time processing and analysis module 31 is communicatively connected to the signal receiving device 5 and the ranging instrument 7 to process real-time signals and perform data display or analysis. For example, it can display the distance to obstacles ahead output by the ranging instrument 7, or display the reflected signals received by the signal receiving device 5.

[0039] Among them, the detection direction of the ranging instrument 7 is towards the front of the traveling frame 2 to monitor obstacles in front, and the detection direction of the signal receiving device 5 is towards the top of the traveling frame 2 to receive the reflected signal reflected back from the coal seam roof.

[0040] The data analysis module 32 is connected to the radar electromagnetic wave transmitter 4 and the signal receiver 5. It controls the radar electromagnetic wave transmitter 4 to emit high-frequency pulse electromagnetic waves. Based on the reflected signal received by the signal receiver 5, it uses existing electromagnetic wave analysis technology to process and analyze the reflected signal and convert it into information such as the expansion of underground fractures, the flow characteristics of fractures, and the flow of fracturing fluid to evaluate the effectiveness of the fracturing process.

[0041] like Figure 2 Designed for spatial angle detection by ground-penetrating radar, this ground-penetrating radar can perform detection from all angles in space. Since the detection depth of ground-penetrating radar is affected by the strata and frequency (generally 50MHz to 500MHz), the maximum detection distance is 50m.

[0042] After the coal seam roof ground-penetrating radar detection device 23 is installed in the roadway 22 of coal seam 21, the hydraulic fracturing situation is observed through the coal seam roof ground-penetrating radar detection device 23. Above coal seam 21 is a fracturing layer 24 comprising multiple boreholes 25.

[0043] Specifically, the radar electromagnetic wave transmitting device 4 is preferably a high-frequency pulse transmitting device. High-frequency electromagnetic waves 26 are emitted by the radar electromagnetic wave transmitting device 4. These electromagnetic waves penetrate the underground medium and are reflected when they encounter different substances. When the electromagnetic waves encounter interfaces such as different underground strata, fissures, rocks, water, and voids, they are reflected. The reflected waves are received by the signal receiving device 5, and the data industrial control computer 3 performs data acquisition. Based on the changing patterns of waveform, frequency, amplitude, phase, and electromagnetic wave energy absorption characteristics of the ground-penetrating radar image, a correspondence between typical geological phenomena and radar characteristic images is established. This yields the specific location, development, and orientation of fissures, evaluates the effect of long-distance directional drilling segmented fracturing, and ultimately achieves long-distance, large-area detection of the fracturing section cross-section. Figure 3 This is a cross-sectional view of the horizontal segmented fracturing effect of ground-penetrating radar detection. In this view, the ground-penetrating radar detection device 23 on the coal seam roof moves in the roadway 22 of the coal seam 21 and emits high-frequency electromagnetic waves 26. A hydraulic support 27 is also installed in the roadway 22.

[0044] To address the issue that borehole inspection alone cannot fully reflect the degree of fracture development in the surrounding rock, high-frequency electromagnetic wave detection technology is used. Based on the close relationship between wave velocity and medium properties, and the significant differences in dielectric constants between air, water, and rock, the received wave velocity differences are analyzed to assess the development of fractures generated by fracturing. Because electromagnetic waves have a wide coverage area, comprehensive and real-time monitoring of the fracturing section can be achieved, saving on labor and equipment costs.

[0045] Transient electromagnetic (TEM) monitoring is greatly affected by geological conditions and electromagnetic interference sources, which can easily lead to monitoring blind spots. This results in the received data not accurately reflecting the development of fractures caused by hydraulic fracturing. Furthermore, the data acquired by TEM requires complex model deduction and data processing to obtain effective underground structural information, which places high demands on data processing technology and makes the interpretation of monitoring results complex. Using high-frequency electromagnetic waves emitted by this ground-penetrating radar can avoid the influence of complex geological conditions, eliminate monitoring blind spots, and achieve faster data reception due to the high propagation speed of high-frequency electromagnetic waves, thereby improving the monitoring range and data processing efficiency.

[0046] Ground-penetrating radar (GPR) transmits signals to detect the development and orientation of rocks and fissures by measuring reflected waves from the subsurface medium. Electromagnetic waves are reflected when they encounter different media. The radar receives signals reflected from various subsurface materials (such as rocks, fissures, pores, and water). The time delay, intensity, and waveform characteristics of these reflected signals provide information about the properties of the subsurface medium. The propagation time of the reflected wave is related to the propagation speed and path length of the electromagnetic wave in the medium. By measuring the reflection time, the depth and location of subsurface structures can be estimated. Differences in the conductivity and dielectric constant of different media result in varying signal reflection intensities. Typically, there is significant reflection at the rock-fissure interface, and differences in the properties of fissures and rocks (such as fissure filling material and hardness) also affect the strength of the reflected wave. By measuring the time it takes for the reflected wave to travel from transmission to reception, the depth of the subsurface medium can be calculated, further inferring the depth and distribution of fissures. The waveform and intensity of the reflected wave can identify fissure development areas. By analyzing the reflected waveforms in radar images and considering the geological background, the geometry, dip angle, and orientation of fissures can be inferred.

[0047] The magnitude of the reflection coefficient is related to the difference in dielectric constant. Formula (1) reflects the relationship between the reflection coefficient and the dielectric constant.

[0048]

[0049] In the formula R i Let ε0 be the reflection coefficient, and ε1 and ε2 be the relative permittivity on both sides of the reflecting interface. From this formula, it can be seen that the greater the change in the relative permittivity on both sides, the greater the reflection coefficient, meaning the greater the signal strength of the reflected electromagnetic wave.

[0050] When the high-frequency, short-pulse electromagnetic waves emitted by ground-penetrating radar encounter targets such as fractured layers during propagation through the medium, the electrical difference between the target and the surrounding rock mass generates reflected waves, which are received and form radar images. By tracing the phase axis of the image profile, the travel time T of the reflected wave can be determined. Simultaneously, the burial depth of the target can be calculated based on the propagation speed of electromagnetic waves in the medium. The propagation speed of electromagnetic pulse waves in underground rock strata can be approximated by... In lieu,

[0051]

[0052] In the formula, v is the propagation speed of electromagnetic waves in the material (m / ns);

[0053] c is the speed of electromagnetic wave propagation in air (0.3 m / ns);

[0054] ε r is the relative permittivity of the material; values ​​can be found in the table below.

[0055] h represents the depth of the bottom interface of the formation (m);

[0056] T is the two-way propagation time of electromagnetic waves (ns).

[0057] Table 1 Relative Medium Constants

[0058]

[0059]

[0060] Cracks typically possess physical properties different from the surrounding rocks, reflecting radar signals distinct from those of the surrounding rock. Cracks are usually formed by gaps between two adjacent rocks or by different rock layers; radar waves encountering this difference in medium undergo significant reflection. The size of the crack, its filling material (such as water, minerals, or gas), and the properties of the rock layers on either side of the crack affect the intensity and shape of the reflected waves, and cracks with different orientations cause variations in the reflected signals in different directions. A significant difference in hardness between the rocks on either side of a crack produces a strong reflected wave. This typically occurs at the interface between hard and soft rocks or between different types of rocks, resulting in a strong reflected signal. If the properties of the rocks on either side of the crack are similar, or if there is no significant difference within the crack (e.g., less filling material), the reflected signal may be weaker. The orientation of a crack is usually inferred through reflection time maps. By measuring in different directions, radar can obtain reflection signals from cracks with different orientations. By transmitting signals in multiple directions and measuring the reflected waves at different angles, data can be collected from different angles to more accurately map the orientation and spatial distribution of cracks. The orientation of a crack can also be inferred from its reflection characteristics and its relative position to the direction of radar wave propagation. When the crack is parallel to the detection direction, the reflected signal is strong; when the crack is perpendicular to the detection direction, the reflected signal is weak or almost non-existent.

[0061] After ground-penetrating radar (GPR) detects the specific characteristics of hydraulic fracturing fractures, borehole inspection monitoring can be used to verify the detection results. GPR detection can quickly and extensively monitor shallow areas, obtaining the extent of fracturing fluid propagation and the initial distribution of fractures. Simultaneously, borehole inspection provides direct fracture images and physical data during fracturing. Verifying the actual fracture conditions through borehole inspection and cross-validating these two methods can reduce data errors, forming a combined surface-to-point fracturing effect evaluation method that improves the reliability of monitoring results. Analysis of the results can further optimize the fracturing design, such as adjusting the fracturing fluid injection location, fluid volume, and fracture propagation range, to ensure maximum fracturing effectiveness. Ground-penetrating radar (GPR) is more sensitive to air and water. The dielectric constants of high-frequency electromagnetic waves vary significantly between air, water, and rock, making it more advantageous for detecting and assessing fractures and water generated by fracturing. Electromagnetic waves attenuate rapidly upon reflection from water. GPR possesses strong penetrating power, high resolution, non-contact detection, applicability to various media, and fast data acquisition speed. These characteristics ensure the real-time performance and accuracy of received data, enabling long-term dynamic monitoring without blind spots, thus overcoming the shortcomings of transient electromagnetic monitoring, which is susceptible to interference and has blind spots. Based on the location and area of ​​roof fracturing, a continuous surface monitoring scheme (detection angle and depth) for GPR is established. By selecting an appropriate dielectric constant, long-distance continuous surface monitoring of roof fracturing effects is achieved within underground roadways. Local verification is then conducted using borehole inspection, forming a combined surface-point linkage method for evaluating fracturing effects using GPR and borehole inspection, resulting in better and more efficient monitoring results.

[0062] This embodiment uses ground-penetrating radar (GPR) to detect the fracturing effect of the roof, enabling continuous and large-scale surface monitoring of horizontal segmented fracturing in long-distance directional drilling of the roof. This overcomes the limitation of borehole inspection monitoring, which can only achieve point monitoring, while saving labor, equipment, and technical costs. Furthermore, GPR ensures the real-time performance and accuracy of the received data, enabling long-term dynamic monitoring without blind spots, thus overcoming the shortcomings of transient electromagnetic monitoring, which is susceptible to interference and has blind spots.

[0063] This embodiment uses ground-penetrating radar to emit high-frequency electromagnetic waves to monitor fracture morphology and development, overcoming the technical shortcomings of borehole observation monitoring and transient electromagnetic monitoring, such as susceptibility to interference and low spatial resolution. Furthermore, it can be used in conjunction with two other monitoring methods, using this ground-penetrating radar as the primary device and borehole observation monitoring and transient electromagnetic monitoring as supplementary methods, thereby reducing monitoring costs and enabling selective and targeted comprehensive application from point to area.

[0064] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A coal seam roof geological radar detection device, characterized in that, include: The vehicle includes a traveling device (1), a traveling frame (2), a data control computer (3), a radar electromagnetic wave transmitter (4), a signal receiver (5), a hydraulic mechanism (6), a distance measuring instrument (7), and an anti-collision device (8). The traveling frame (2) is fixed on the traveling device (1). The data control computer (3), the signal receiver (5), the hydraulic mechanism (6), and the distance measuring instrument (7) are fixed on the traveling frame (2). The radar electromagnetic wave transmitter (4) is fixedly connected to the moving end of the hydraulic mechanism (6). The radar electromagnetic wave transmitter (4), the signal receiver (5), and the distance measuring instrument (7) are communicatively connected to the data control computer (3). The anti-collision device (8) is fixed at the front or rear end of the traveling frame (2).

2. The coal seam roof geological radar detection device according to claim 1, characterized in that, It also includes a transmitting antenna (9) that is fixedly connected to the radar electromagnetic wave transmitting device (4).

3. The coal seam roof geological radar detection device according to claim 1, characterized in that, It also includes a hydraulic storage tank (11) connected to the hydraulic mechanism (6) via an oil pipe (10), the hydraulic storage tank (11) being fixed to the overhead crane frame (2).

4. The coal seam roof geological radar detection device according to claim 1, characterized in that, It also includes a hydraulic industrial control computer (12) for controlling the hydraulic mechanism (6), the hydraulic industrial control computer (12) being fixed on the overhead crane frame (2).

5. The coal seam roof geological radar detection device according to claim 3, characterized in that, The hydraulic mechanism (6) is fixed to the top of the hydraulic storage tank (11).

6. The coal seam roof geological radar detection device according to claim 1, characterized in that, The detection direction of the ranging instrument (7) is towards the front of the vehicle frame (2).

7. The coal seam roof geological radar detection device according to claim 1, characterized in that, The detection direction of the signal receiving device (5) is directed towards the top of the vehicle frame (2).

8. The coal seam roof geological radar detection device according to claim 1, characterized in that, The data industrial control computer (3) includes a real-time processing and analysis module (31) that is communicatively connected to the signal receiving device (5) and the ranging instrument (7).

9. The coal seam roof geological radar detection device according to claim 1, characterized in that, The industrial control computer (3) includes a data analysis module (32) that is communicatively connected to the radar electromagnetic wave transmitting device (4) and the signal receiving device (5).

10. The coal seam roof geological radar detection device according to claim 1, characterized in that, The anti-collision device (8) includes an anti-collision bar (81) and a spring. One end of the spring is fixedly connected to the anti-collision bar (81), and the other end is fixedly connected to the front or rear end of the vehicle frame (2).

Images