Foldable GPR Survey Equipment
The foldable GPR exploration device addresses unexplored sections and positional errors by using expandable units that adjust to obstacles, enhancing efficiency and reducing exploration time.
Patent Information
- Authority / Receiving Office
- KR · KR
- Patent Type
- Patents
- Current Assignee / Owner
- 주식회사 제이에스이앤씨
- Filing Date
- 2025-05-21
- Publication Date
- 2026-07-29
AI Technical Summary
Existing GPR exploration devices face issues with unexplored sections and positional errors when navigating narrow sidewalks or back roads with obstacles, leading to reduced efficiency and increased exploration time.
A foldable GPR exploration device with expandable units that can be unfolded or folded in response to obstacles, equipped with ground-penetrating radar and wheels, allowing selective adjustment of the exploration width and minimizing unexplored areas and positional errors.
The device enables efficient exploration by minimizing unexplored sections and positional errors, reducing exploration time, and preventing accidents by automatically adjusting to obstacles, while protecting the ground-penetrating radar from vibrations and shocks.
Smart Images
Figure 112025056999975-PAT00005_ABST
Abstract
Description
Technology Field
[0001] The present invention relates to a foldable GPR exploration device, and more specifically, to a foldable GPR exploration device capable of selectively expanding the exploration area by having a pair of expansion exploration units foldable on both the left and right sides of a main exploration unit equipped with a ground-penetrating radar and a plurality of wheels to be towed by a vehicle to explore underground structures or cavities. Background Technology
[0002] Generally, Ground Penetrating Radar (GPR) explores the area beneath the surface using broadband impulse waveforms. By incidenting broadband electromagnetic waves onto the surface and receiving the waves that are continuously reflected back from the boundaries of the medium to image the characteristics of the medium, it has the advantage of being able to explore the location, physical properties, size, and boundaries of objects existing in the subsurface without excavation.
[0003] In other words, ground-penetrating radar utilizes the principle that the propagation speed, wavelength, and reflection characteristics of electromagnetic waves vary depending on the medium through which they pass to determine the thickness and location of objects, the boundaries between media, and the presence of internal cracks and cavities; it is used in various fields, including the investigation of buried utilities, the internal condition of structures, geological strata, and underground archaeological sites.
[0004] Meanwhile, ground-penetrating radar used to detect the existence of cavities formed beneath roads is mainly mounted on or towed by a survey vehicle, and Korean Registered Patent No. 10-2612686 (registered on December 7, 2023, hereinafter referred to as the 'prior art document') has been proposed as a prior art document related to such a GPR survey device. As shown in FIG. 1a, the GPR survey device according to the prior art document enables the detection of cavities in narrow side roads or sidewalk sections by installing a second unit (2) including a penetrating radar (1) on a first unit (3) that constitutes an electric cart.
[0005] As described above, the GPR device of the prior art literature was designed to reduce the time required for cavity exploration of sidewalk sections by installing a penetrating radar on an electric cart.
[0006] However, since there are various obstacles such as street trees, streetlights, and cargo on narrow sidewalks or side roads, a GPR exploration device installed with a penetrating radar fixed to an electric cart as in the prior art literature may move in a curve to avoid obstacles during the exploration process on sidewalks or side roads. In this case, as shown in Fig. 1b, an unexplored section corresponding to the length of the electric cart is created by the obstacles, and as the road surface image acquired through the penetrating radar is distorted, there is a problem in that a positional error occurs between the signal data and the road surface image.
[0007] Meanwhile, the GPR exploration device of the prior art literature may conduct exploration by driving in a straight line during the joint exploration process of a section where obstacles exist, but may also conduct exploration by entering between adjacent obstacles as if parking. In this case, as illustrated in Fig. 1c, not only are unexplored sections created, but efficiency is also reduced, and the exploration time is significantly increased. Prior art literature
[0008] Korean Registered Patent No. 10-2612686 (Registered Dec. 07, 2023) The problem to be solved
[0009] The present invention was devised to solve the above-mentioned problems, and the objective of the present invention is to provide a foldable GPR exploration device that facilitates exploration of narrow sidewalks or back roads where various obstacles such as street trees, streetlights, and cargo exist, minimizes unexplored sections, and minimizes positional errors between signal data obtained from ground-penetrating radar and road surface images.
[0010] Another objective of the present invention is to provide a foldable GPR exploration device capable of adjusting the effective exploration width in stages according to field conditions.
[0011] Another objective of the present invention is to provide a foldable GPR exploration device capable of ensuring the durability of the ground-penetrating radar and the expansion exploration unit even under repeated folding. means of solving the problem
[0012] The foldable GPR exploration device of the present invention, which performs the task of achieving the above-mentioned purpose and eliminating conventional problems, is towed by a vehicle (10) to move and explore the underground, and comprises: a main exploration unit (110) equipped with a ground-penetrating radar (112) for underground exploration and a plurality of wheels (113) to be connected to and towed by the vehicle (10); and a pair of expansion exploration units (120) formed to be foldable with the main exploration unit (110) and folded to be positioned at an upper mounting position of the main exploration unit (110) or a lateral exploration position of the main exploration unit (110), and equipped with a ground-penetrating radar (122) for underground exploration to expand the exploration area laterally. and receiving the output of a folding drive motor (131) so that a pair of expansion exploration units (120), installed on the main exploration unit (110) or expansion exploration unit (120), rotate independently around a hinge point (HP) to be positioned at a mounting position or an exploration position, so that the effective exploration width of the exploration area is selectively expanded. It is characterized by including: a pair of moving units (130) that fold the hinge module (150); and a first interlock (161) and a second interlock (162) that are installed to correspond to each other on the main exploration unit (110) and the expansion exploration unit (120) respectively so as to prevent unfolding, so as to interlock with each other at the mounting position to restrain the expansion exploration unit (120) to the main exploration unit (110).
[0013] delete
[0014] delete
[0015] Additionally, detection sensors (160) are installed on both the left and right sides of the vehicle (10) to detect obstacles located in front of each expansion exploration unit (120), and the folding drive motor (131) can operate in a direction that temporarily folds the expansion exploration unit (120) at the exploration location to be positioned at the mounting location in response to an obstacle detection signal generated by the detection sensors (160).
[0016] Additionally, the above-described expansion exploration unit (120) may include: a cushioning pad (123) filled between the casing (121) and the ground-penetrating radar (122) to protect the ground-penetrating radar (122) from vibration or shock; and a plurality of pressure fixing members (124) installed across the interior of the casing (121) at a position facing the cushioning pad (123) with the ground-penetrating radar (122) in between, so that the ground-penetrating radar (122) is relatively fixed to the casing (121).
[0017] delete
[0018] Additionally, each of the above moving units (130) includes a connecting link (134) which is installed on the main exploration unit (110) such that one end is connected to a rotation center point (CP) located on the upper surface of the main exploration unit (110) to rotate around the rotation center point (CP), and the other end is connected to the expansion exploration unit (120) so as to rotate relative to it; and each of the above expansion exploration units (120) may include a weight (135) provided at the bottom of the expansion exploration unit (120) to maintain a fixed position in which the ground-penetrating radar (122) is positioned toward the road surface when folded by the rotation of the connecting link (134) rotating around the rotation center point (CP). Effects of the invention
[0019] According to the foldable GPR exploration device of the present invention, a pair of expansion exploration units provided to be foldable on both the left and right sides of the main exploration unit can be folded or unfolded in response to the presence or absence of obstacles. Therefore, during the exploration process on sidewalks or back roads with many obstacles, it is possible to explore the sections between adjacent obstacles even while driving in a straight line, minimize unexplored sections, and minimize the positional error between the signal data acquired from the ground-penetrating radar and the road surface image. By doing so, the number of explorations can be reduced, and the exploration time can be significantly shortened.
[0020] In particular, since the effective exploration width can be adjusted stepwise by folding or unfolding a pair of expansion exploration units or by folding or unfolding only one of the expansion exploration units in response to the conditions of the exploration site, exploration work can be carried out under optimal conditions at various sites.
[0021] Furthermore, by automatically folding the expansion exploration unit based on detection signals generated from a detection sensor that detects obstacles located in the direction of travel, faster exploration is possible, accidents caused by driver error can be prevented, and the burden on the driver can be reduced.
[0022] In addition, a cushioning pad is provided between the casing of the expansion exploration unit and the ground-penetrating radar, and since the ground-penetrating radar is firmly fixed inside the casing by a plurality of pressure fixing brackets, it is possible to prevent vibrations or shocks generated during the exploration and folding processes from being transmitted directly to the ground-penetrating radar or the ground-penetrating radar from coming out of place.
[0023] In addition, since the expansion exploration unit, which is folded to the mounting position on the main exploration unit, is suppressed from unfolding by the mutual coupling of the first and second interlocks, it is possible to prevent the expansion exploration unit from unfolding and causing an unexpected accident during high-speed driving for position change.
[0024] Furthermore, since the extension exploration unit can be maintained in an upright position with the ground-penetrating radar facing the road surface without vertical inversion during the folding process by means of weights or support pieces, vibrations or shocks transmitted to the ground-penetrating radar during the folding process can be significantly reduced, and damage caused by twisting of various cables extending from the vehicle or main exploration unit to the extension exploration unit can be prevented in advance. Brief explanation of the drawing
[0025] FIG. 1a is a side view of a GPR exploration device according to prior art literature, FIG. 1b is an example diagram showing the process of a GPR exploration device exploring a sidewalk section with obstacles while traveling in a curve and the road surface image obtained thereby. FIG. 1c is an example diagram showing the process of a GPR exploration device traveling in a straight line and exploring a sidewalk section where obstacles exist. FIG. 2 is a side view illustrating a foldable GPR exploration device according to an embodiment of the present invention connected to a vehicle for towing and moving. FIG. 3 is a perspective view of a foldable GPR exploration device according to an embodiment of the present invention, FIG. 4 is a perspective view illustrating the interior of an expanded exploration unit according to an embodiment of the present invention. FIG. 5 is a cross-sectional view illustrating the interior of an expanded exploration unit according to an embodiment of the present invention. FIG. 6 is a perspective view illustrating the structure of a moving unit according to one embodiment of the present invention. FIG. 7 is a rear view illustrating the structure of a hinge module according to an embodiment of the present invention, FIG. 8 is a front view illustrating the structure of a moving unit according to another embodiment of the present invention. FIG. 9 is a rear view illustrating a state in which a support piece for load support of an expansion exploration unit is formed on the main exploration unit. FIG. 10 is a rear view illustrating a state in which a pair of expansion exploration units are deployed to an exploration location to expand the effective exploration width. FIG. 11 is a rear view illustrating a pair of expansion exploration units folded into a mounting position so that the effective exploration width is reduced. FIG. 12 is an exemplary diagram showing the process of a foldable GPR exploration device moving along a sidewalk and exploring according to one embodiment of the present invention, and the road surface image obtained thereby. Specific details for implementing the invention
[0026] In the following, preferred embodiments of the present invention will be described in detail based on the details illustrated in the drawings; however, specific descriptions of related known functions or configurations are omitted if it is determined that such descriptions may unnecessarily obscure the essence of the present invention.
[0027] A foldable GPR exploration device (100) according to one embodiment of the present invention is installed to be connected to the rear of a vehicle (10) consisting of an electric cart as shown in FIG. 2, and is towed by the vehicle (10) to explore underground structures or cavities. As shown in FIG. 2 and FIG. 3, it includes a main exploration unit (110), a pair of expansion exploration units (120), and a pair of moving units (130).
[0028] The above main exploration unit (110) includes a rectangular casing (111), a ground-penetrating radar (112) installed inside the casing (111), and a plurality of wheels (113) that rotate by friction with the road surface.
[0029] At this time, the casing (111) is connected to the vehicle (10) by a lifting device (140), and the lifting device (140) includes a lifting drive frame (141) installed on the vehicle to support the main exploration unit (110) so as to be movable up and down, and a winch (142) installed on the vehicle (10) to have a wire connected to the lifting drive frame (141). By the winding operation of the winch (142), the lifting drive frame (141) operates in a direction to lift the main exploration unit (110), thereby separating the main exploration unit (110) from the ground, and by the unwinding operation of the winch (142), the lifting drive frame (141) operates in a direction to lower the main exploration unit (110), thereby allowing the main exploration unit (110) to be placed on the ground.
[0030] One or more of the above ground-penetrating radars (112) may be installed within the casing (111). That is, a single relatively large ground-penetrating radar (112) may be installed to cover the entire exploration area of the main exploration unit (110), or a plurality of relatively small ground-penetrating radars (112) may be combined to cover the exploration area of the main exploration unit (110).
[0031] Such a main exploration unit (110) may include a power supply unit to independently supply power for the operation of the ground-penetrating radar (112), or may operate by receiving power from the power supply unit of the vehicle (10).
[0032] The above pair of expansion exploration units (120) are each located on the left and right sides of the main exploration unit (110), and each expansion exploration unit (120) is equipped with a ground-penetrating radar (122) to extend the exploration area of the main exploration unit (110) and to expand the exploration area laterally.
[0033] At this time, the ground-penetrating radar (122) may be installed such that a single relatively large ground-penetrating radar (122) covers the entire exploration area of the expanded exploration unit (120), or a plurality of relatively small ground-penetrating radars (122) can be installed to cover the exploration area of the expanded exploration unit (120).
[0034] Additionally, the expansion exploration unit (120) includes a cushioning pad (123) that protects the ground-penetrating radar (122) from vibrations or shocks occurring during the exploration or folding process, as illustrated in FIGS. 4 and 5. The cushioning pad (123) is formed to fill the space between the casing (121) constituting the expansion exploration unit (120) and the ground-penetrating radar (122). Such a cushioning pad (123) prevents direct contact between the ground-penetrating radar (122) and the casing (121) when the ground-penetrating radar (122) moves due to vibrations or shocks occurring during the exploration or folding process, and absorbs or blocks shocks transmitted from the casing (121), thereby protecting the ground-penetrating radar (122) provided in the expansion exploration unit (120) from vibrations or shocks.
[0035] Additionally, the above-mentioned expansion exploration unit (120) may include a plurality of pressure fixing members (124) that firmly fix the ground-penetrating radar (122) inside the casing (121) to suppress movement.
[0036] The above-mentioned pressure fixing member (124) is positioned to traverse the interior of the casing (121) from the upper side of the ground-penetrating radar (122) so as to face the buffer pad (123) with the ground-penetrating radar (122) positioned inside the casing (121), and is installed inside the casing (121) to press the ground-penetrating radar (122) downward and fix it relative to the casing (121).
[0037] At this time, the plurality of pressure fixing members (124) are dispersed so as to be spaced apart from each other, and each pressure fixing member (124) can be fixed to the ground penetrating radar (122) by a first bolt (B1) and fixed to the casing (121) by a second bolt (B2).
[0038] The main technical differentiation of the present invention is that such an expansion exploration unit (120) is installed in a foldable manner so as to be positioned at a mounting location on the upper part of the main exploration unit (110) or at an exploration location on the side of the main exploration unit (110), thereby allowing the effective exploration width of the exploration area to be selectively expanded, and the folding operation of the expansion exploration unit (120) can be implemented by a pair of moving units (130).
[0039] The above pair of moving units (130) fold the pair of expansion exploration units (120) so that they are placed in a mounting position or an exploration position. According to one embodiment, as shown in FIGS. 6 and 7, the expansion exploration units (120) are folded by rotating around a hinge point (HP) to be folded into a mounting position or an exploration position.
[0040] The hinge module (150) includes a first hinge plate (151) installed on the main exploration unit (110) and a second hinge plate (152) installed on the expansion exploration unit (120), and the first hinge plate (151) and the second hinge plate (152) are mutually coupled so as to be able to rotate relative to each other by a hinge axis (153) forming a hinge point (HP), so that the expansion exploration unit (120) coupled to the main exploration unit (110) by the hinge module (150) can be folded by rotating around the hinge axis (153).
[0041] At this time, the hinge module (150) may include a first interlock (161) and a second interlock (162) that interlock with each other to restrain the expansion exploration unit (120) to the main exploration unit (110) at the mounting position of the expansion exploration unit (120).
[0042] The first interlock (161) is installed on the first hinge plate (151) and includes a pair of elastic fixing pieces (164) each elastically supported by a spring (165) so as to move closer or further apart while facing each other with a binding groove (163) in between.
[0043] The second interlock (162) is installed on the second hinge plate (152) and is equipped with a fixing pin (166) that is inserted into the binding groove (163). The fixing pin (166) is formed to protrude in the form of a cantilever, having a relatively narrow fixed end and a relatively wide free end, and is constrained within the binding groove (163) by pressing both sides by a pair of elastic fixing pieces (164) after being inserted into the binding groove (163).
[0044] Additionally, the moving unit (130) may include a folding drive motor (131) so that the expansion exploration unit (120) is automatically folded in response to a folding signal from a control module (170) generated by the operation of a switch by the vehicle driver.
[0045] At this time, the hinge shaft (153) is fixed to the second hinge plate (152) to rotate together with the expansion exploration unit (120), and the outer end is connected to the gear train (132) to rotate by receiving the output of the folding drive motor (131).
[0046] Additionally, the folding drive motor (131) is installed in the main exploration unit (110) or the expansion exploration unit (120), and the gear train (132) includes a plurality of gears that mesh with each other to connect the output shaft (133) of the folding drive motor (131) and the hinge shaft (153) so that the output shaft (133) and the hinge shaft (153) rotate in conjunction.
[0047] Accordingly, when a vehicle driver operates a switch provided in the driver's seat to deploy the expanded exploration unit (120), which is folded into a mounting position, to an exploration position, the output of the folding drive motor (131) is transmitted to the hinge shaft (153) through the output shaft (133) and the gear train (132), causing the hinge shaft (153) to rotate, thereby allowing the expanded exploration unit (120) to be automatically deployed to an exploration position. Of course, the expanded exploration unit (120) at the exploration position can also be automatically folded back into a mounting position by operating the switch in the opposite direction.
[0048] Meanwhile, as illustrated in FIG. 2, a detection sensor (160) is installed on each of the left and right sides of the vehicle (10) to detect an obstacle located in front of each expansion exploration unit (120), and a control module (170) can control the expansion exploration unit (120) at the exploration location to temporarily move to the mounting location in response to an obstacle detection signal generated by the detection sensor (160).
[0049] At this time, the control module (170) is configured to generate a control signal to operate the folding drive motor (131) in the folding direction so that the expansion exploration unit (120) folds from the exploration position to the mounting position when an obstacle detection signal is generated from the detection sensor (160), and to automatically generate a control signal to operate the folding drive motor (131) in the unfolding direction so that the expansion exploration unit (120) unfolds from the mounting position to the exploration position after a maintenance time calculated by considering the distance to the detected obstacle and the driving speed of the vehicle (10) has elapsed. Thus, when an obstacle is detected, the expansion exploration unit (120) can be temporarily folded to avoid the obstacle. In addition, it goes without saying that the control module (170) can be operated by the operation of a switch by the vehicle driver.
[0050] According to another embodiment of the present invention, as shown in FIG. 8, the moving unit (130) may include a connecting link (134) and a weight (135) so that the posture of the expansion exploration unit (120) does not change during the process of the expansion exploration unit (120) being folded.
[0051] The above connecting link (134) is installed on the main exploration unit (110) such that one end is axially connected to a rotation center point (CP) located on the upper surface of the main exploration unit (110) to rotate around the rotation center point (CP), and the other end is axially connected to the center of the front or rear of the expansion exploration unit (120) to enable relative rotation.
[0052] One end of such a connecting link (134) is connected to a folding drive motor (131) through a gear train (132) and receives output when the folding drive motor (131) operates, allowing it to rotate around a rotation center point (CP).
[0053] The above weight (135) may be provided at the bottom of each expansion exploration unit (120) to lower the center of gravity of the expansion exploration unit (120).
[0054] In this way, the extension exploration unit (120) is connected to the other end of the connecting link (134) so as to be rotatable relative to it, and has a low center of gravity due to the weight (135). Therefore, during the process of folding into the exploration position and mounting position by the rotation of the connecting link (134) by the output of the folding drive motor (131), the ground penetrating radar (122) is maintained in a fixed position facing the road surface, thereby significantly reducing vibrations, shocks, and flow transmitted to the ground penetrating radar (122) during the folding of the extension exploration unit (120), and also preventing twisting of various cables extending from the vehicle (10) or the main exploration unit (110) to the extension exploration unit (120).
[0055] Meanwhile, in order to distribute the load applied to the hinge module (150) by the weight of the expansion exploration unit (120) when the expansion exploration unit (120) is deployed to the exploration position and to suppress the movement of the expansion exploration unit (120) caused by vibrations during driving, a plurality of support pieces (171) supporting the expansion exploration unit (120) may be formed on the main exploration unit (110). Additionally, a fixing projection (174) may be formed on the support piece (171), and a plurality of fixing grooves (172) may be formed to correspond to each other on the part of the expansion exploration unit (120) that is supported, so that it can be fixed in a supported state.
[0056] More specifically, as illustrated in FIG. 9, the fixing piece (171) is installed on both the left and right sides of the bottom surface of the main exploration unit (111), with the outer end protruding to the side of the main exploration unit (110). The upper surface of the outer end is formed as an inclined surface (173) such that the thickness of the binding piece decreases as it extends toward the end, thereby preventing interference with the expansion exploration unit (120) deployed to the exploration position. Additionally, a fixing projection (174) is provided that protrudes convexly upward and is inserted into the fixing groove (172).
[0057] The above-mentioned fixed groove (172) is formed on the bottom surface of the expansion exploration unit (120), and the above-mentioned fixed projection (174) can be inserted and coupled at the position where the expansion exploration unit (120) is fully deployed to the exploration position.
[0058] Meanwhile, the above-mentioned fixed piece (171) and fixed groove (172) can be formed at the front and rear ends of the main exploration unit (110) and the expansion exploration unit (120) respectively to correspond to each other.
[0059] According to the fixed piece (171) and fixed groove (172) formed in this manner, the expanded exploration unit (120) deployed to the exploration position is partially seated on the fixed piece (171), and the load generated by its own weight is distributed to the main exploration unit (110) through the fixed piece (171), thereby reducing the load applied to the hinge module (150), and the expanded exploration unit (120) can be prevented from moving as the fixed projection (174) is inserted into the fixed groove (172).
[0060] The foldable GPR exploration device (100) of the present invention configured as described above can significantly increase the efficiency of the exploration work because the expansion exploration unit (120) can be selectively folded in response to the presence or absence of obstacles or the width of the sidewalk during the exploration process of structures or cavities existing underground in the sidewalk.
[0061] That is, as illustrated in FIGS. 9 and 10, when exploring a sidewalk with many obstacles such as trees or streetlights, even when the GPR exploration device (100) towed by the vehicle (10) travels in a straight line along the sidewalk, the expansion exploration unit (120) is deployed to the exploration position in the section where there are no obstacles to expand the effective exploration width laterally, and is temporarily folded to the mounting position in the section where there are obstacles so that the obstacles can be avoided even when traveling in a straight line without changing the driving direction of the vehicle (10), so there is no distortion between the road surface images obtained from the ground penetrating radar (112) (122), and thereby the positional error between the signal data and the road surface images can be minimized.
[0062] In addition, since a pair of expansion units (120) provided on both the left and right sides of the main exploration unit (110) can be folded independently, the effective exploration width of the GPR exploration device (100) can be increased or decreased in stages in response to the width of the sidewalk or back road to be explored, thereby reducing the number of explorations and the time required to explore the entire road or back road.
[0063] It will be understood by those skilled in the art that the foldable GPR exploration device according to the present invention described above can be implemented in other specific forms without altering the technical concept or essential features of the present invention.
[0064] Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting, and the scope of the invention is defined by the claims set forth below rather than by the foregoing detailed description, and all modifications or variations derived from the meaning and scope of the claims and equivalents should be interpreted as being included within the scope of the invention. Explanation of the symbols
[0065] 10: Vehicle 100: GPR exploration device 110: Main Exploration Unit 111: Casing 112: Ground-penetrating radar 113: Wheel 120: Expansion Exploration Unit 121: Casing 122: Ground-penetrating radar 123: Buffer pad 124: Pressure fixing bracket 130: Moving unit 131: Folding drive motor 132: Gear train 133: Output axis 134: Connecting link 135: Weight 140: Lifting device 150: Hinge module 151: First hinge plate 152: Second hinge plate 153: Hinge axis 160: Detection sensor 161: First interlock 162: Second Interlock 171: Support piece 172: Fixed groove
Claims
Claim 1 The invention relates to a GPR exploration device (100) that is towed by a vehicle (10) and moves to explore the underground, comprising: a main exploration unit (110) equipped with a ground-penetrating radar (112) for underground exploration and a plurality of wheels (113) connected to the vehicle (10) to be towed; a pair of expansion exploration units (120) formed to be foldable with the main exploration unit (110) and folded to be positioned at an upper mounting position or a lateral exploration position of the main exploration unit (110), and equipped with a ground-penetrating radar (122) for underground exploration to expand the exploration area laterally; and a pair of expansion exploration units (120) installed on the main exploration unit (110) or the expansion exploration unit (120) so that the effective exploration width of the exploration area is selectively expanded, and the output of a folding drive motor (131) so that the pair of expansion exploration units (120) rotate independently around a hinge point (HP) to be positioned at the mounting position or exploration position. Received A foldable GPR exploration device characterized by comprising: a pair of moving units (130) for folding a hinge module (150); and a first interlock (161) and a second interlock (162) installed to correspond to each other on the main exploration unit (110) and the expansion exploration unit (120), respectively, to prevent unfolding by interlocking with each other at the mounting position to restrain the expansion exploration unit (120) to the main exploration unit (110). Claim 2 delete Claim 3 A foldable GPR exploration device according to claim 1, wherein the hinge module (150) includes a hinge shaft (153) that rotates together with an expansion exploration unit (120), and the hinge shaft (153) rotates by receiving the output of a folding drive motor (131) through a gear train (132). Claim 4 A foldable GPR exploration device characterized in that, in paragraph 3, a detection sensor (160) is installed on each of the left and right sides of the vehicle (10) to detect an obstacle located in front of each expansion exploration unit (120), and the folding drive motor (131) operates in a direction that temporarily folds the expansion exploration unit (120) of the exploration location to be positioned at the mounting location in response to an obstacle detection signal generated by the detection sensor (160). Claim 5 In claim 1, the expansion exploration unit (120) comprises: a cushioning pad (123) filled between the casing (121) and the ground-penetrating radar (122) to protect the ground-penetrating radar (122) from vibration or shock; and a plurality of pressure fixing members (124) installed across the interior of the casing (121) at a position facing the cushioning pad (123) with the ground-penetrating radar (122) in between, so that the ground-penetrating radar (122) is relatively fixed to the casing (121). Claim 6 delete Claim 7 In claim 1, each of the moving units (130) is installed on the main exploration unit (110) such that one end is connected to a rotation center point (CP) located on the upper surface of the main exploration unit (110) to rotate around the rotation center point (CP), and the other end is connected to the expansion exploration unit (120) so as to rotate relative to it; and each of the expansion exploration units (120) is characterized by including a weight (135) provided at the bottom of the expansion exploration unit (120) to maintain a fixed position in which the ground penetrating radar (122) is positioned toward the road surface when deployed by the rotation of the connecting link (134) rotating around the rotation center point (CP).