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This invention discloses an underground cavity exploration and detection device and method, belonging to the field of underground cavity detection technology. The device includes a vehicle body equipped with a seismic hammer, lateral and longitudinal detection components, a support component with a geophone, and a control module. The support component is telescopically adjustable, and the geophone is pressed against the ground by a spring. The method includes road surface clearing, vehicle positioning and automatic leveling calibration, seismic hammer impact to generate seismic waves, geophone receiving the seismic waves and converting them into electrical signals, control module processing data, equipment retrieval, and multi-point repeated detection. This invention achieves automatic leveling and adjustment, improving detection accuracy; ensures stable reception of seismic wave signals, reducing attenuation interference; and automated operation reduces manpower and errors, meeting the needs of large-area rapid exploration, and is suitable for hazard investigation in urban roads and other areas.