A 3D imaging device for underground cavities

Abstract

The present invention discloses a 3D imaging device for underground voids, which relates to the technical field of underground void detection. The device comprises a main frame with a brake wheel installed at the bottom, wherein a lifting assembly, a detection assembly, a cave entrance protection assembly and a display terminal assembly are installed in the main frame; the detection assembly comprises a vertically arranged guide rod; the present invention can effectively prevent the cave entrance from collapsing or foreign matter from intruding through the design of a frustum protection tube and an air bag, and can also fit to the cave entrance wall through adaptive adjustment of air pressure, thereby ensuring the safety and stability of the detection process; at the same time, by utilizing the set frustum protection tube, it can first approach and align with the cave entrance, so as to facilitate the position of the device to be adjusted before detection. On the other hand, after the detection is completed, the detection head can first be retracted through the frustum protection tube, and then the frustum protection tube is lifted again, thereby forming an effective protection effect on the detection head during the detection process, and at the same time, effectively preventing the collapse of the detected cave entrance.

Description

Technical Field

[0001] The present invention relates to the technical field of underground cavity detection, and in particular to an underground cavity 3D imaging device. Background Art

[0002] In traditional workflows, it's difficult to accurately obtain information about the volume and morphology of voids using rulers, and detailed scanning inside the voids is impossible. Lack of precise geometric information can lead to deviations in the analysis of the causes and processes of void formation, as well as inferences about the specific voids requiring grouting repair. Furthermore, grouting can be problematic due to improper design parameters, insufficient grouting, or excessive grouting. To address these issues, existing technologies often use probes to detect the interior of the void, providing visual data support for grouting repair projects.

[0003] In existing technology, detection equipment (particularly its precision sensor components at the front end, such as lenses and radar transmitter / receiver units) often lacks effective guidance and protection mechanisms. During lowering or retrieving of the equipment along a borehole, especially when the borehole walls are irregular, contain sharp protrusions, or contain loose debris, the outer surface of the detection equipment is susceptible to friction or collision with the borehole wall. This abrasion can cause minor wear and tear on the device's exterior, impacting its aesthetics and service life. In more serious cases, it can directly damage critical optical lenses, electromagnetic wave transmission windows, or sensor surfaces, leading to severe image quality degradation, signal distortion, or device failure, directly impacting the accuracy and reliability of detection results. Furthermore, after the hole is drilled, the soil stability near the hole and its walls decreases, especially in loose or water-rich strata. Existing support structures for detection equipment often focus solely on device connectivity and signal transmission (e.g., simple rigid rods or cables), lacking effective support and reinforcement for the hole. During equipment operation (such as lowering, lifting, and slight rotation) or when subjected to slight external disturbances (such as people walking and equipment vibration), the loose soil at the hole mouth is very likely to collapse. The collapse of the hole mouth will not only block the passage, but also cause expensive detection equipment to be buried and difficult to recover, resulting in property loss. More seriously, sudden collapse may also threaten the safety of on-site operators and interrupt the entire detection and verification process. Therefore, there are limitations. Summary of the Invention

[0004] The object of the present invention is to provide an underground cavity 3D imaging device to solve the problems raised in the above background technology.

[0005] The technical solution of the present invention is: an underground cavity 3D imaging device, comprising a main frame with a brake wheel installed at the bottom, wherein a lifting component, a detection component, a cave entrance protection component and a display terminal component are installed in the main frame;

[0006] The detection assembly includes a vertically arranged guide rod, and a detection head is arranged at the bottom end of the guide rod;

[0007] The hole protection assembly includes a frustum-shaped protective cylinder coaxially arranged with the guide rod, with an annular cavity plate fixed to the top of the frustum-shaped protective cylinder, and a plurality of air bags equidistantly fixed to the outer peripheral wall of the frustum-shaped protective cylinder. A plurality of equidistantly distributed ventilation cavities are formed inside the frustum-shaped protective cylinder, and the two ends of the ventilation cavities are respectively connected to the annular cavity plate and the air bags;

[0008] The display terminal assembly includes a mounting plate fixed on the main frame, and a curved protective cover is fixed on the mounting plate. A torsion spring shaft is provided in the curved protective cover, a flip plate is fixed on the torsion spring shaft, and a processing terminal is fixed on one side of the flip plate.

[0009] Preferably, the lifting assembly includes two pairs of mounting blocks fixedly mounted on the main frame, and each pair of mounting blocks is rotatably mounted with a screw rod, the two screw rods are commonly connected to a movable cross rod through threads, and the middle end of the movable cross rod is fixedly connected to the guide rod.

[0010] Preferably, a pair of end tubes are fixed to the bottom of the movable cross bar, and a piston rod is slidably installed in the end tube, and an ear plate is fixed between the bottom end of the piston rod and the frustum protective tube.

[0011] Preferably, each of the end tubes is provided with a pair of air holes one and a pair of air holes two, air hole one is located directly above air hole two, and the two end tubes are fixedly connected with a spiral air pipe, and the spiral air pipe is spirally sleeved on the outside of the end tube and the piston rod, the bottom end of the spiral air pipe is fixedly connected with the annular cavity plate, and a connecting spring is fixed between the top of the piston rod and the top of the end tube.

[0012] Preferably, a pair of guide rods are fixed to the main frame at positions close to the mounting plate, and extension side rods are sleeved on the guide rods, and ends of the extension side rods are fixed to the movable cross rods.

[0013] Preferably, a folded rack is fixed on one side of each of the two extended side rods, and a transmission shaft is rotatably installed on one end of each side of the mounting plate near the bottom. A transmission belt 2 is sleeved between the transmission shaft and the torsion spring shaft, and a transmission gear that is compatible with the folded rack is fixed on the transmission shaft.

[0014] Preferably, a drive motor is fixed to one side of the main frame, and an output shaft of the drive motor is fixedly connected to one of the lead screws.

[0015] Preferably, a transmission wheel is fixed to the top of the two screw rods, and a pair of side wheels are installed at one end of the main frame close to the top, and the two transmission wheels and the two side wheels are jointly covered with a transmission belt.

[0016] Preferably, a signal line is fixed to the top of the guide rod, the signal line is spiral-shaped, and two ends of the signal line are electrically connected to the detection head and the processing terminal respectively.

[0017] Preferably, two side guard plates are fixed between one side of the main frame and the mounting plate, a pair of transparent side plates are fixed to the other three sides of the main frame, and the top end of the main frame is connected to a top cover via a hinge.

[0018] The present invention provides an improved 3D imaging device for underground cavities, which has the following improvements and advantages compared to the prior art:

[0019] First, the present invention utilizes the design of a frustum-shaped protective tube and an airbag to effectively prevent the hole from collapsing or foreign matter from intruding. Furthermore, the air pressure is adaptively adjusted to fit the hole wall, ensuring the safety and stability of the detection process. Furthermore, the frustum-shaped protective tube allows the device to approach and align with the hole, facilitating adjustment of its position before detection. Furthermore, after detection, the detection head can be retracted through the frustum-shaped protective tube, which is then lifted up. This provides effective protection for the detection head during the detection process, effectively preventing the hole from collapsing.

[0020] Second, the present invention utilizes a torsion spring shaft and a flip plate to facilitate flipping the processing terminal to the outside of the device during detection, thereby preventing information from being displayed. After detection, the processing terminal is reset to the interior of the arc-shaped protective cover under the action of the torsion spring shaft, thereby effectively protecting the processing terminal and information. Third, the present invention provides a frustum-shaped protective tube located outside the detection head, protecting the detection head during insertion into the hole and preventing it from scratching the hole. When the frustum-shaped protective tube is inserted into the hole, the movable crossbar continues to move downward, while the frustum-shaped protective tube remains at the hole position. Simultaneously, the end tube moves downward relative to the piston rod. When the piston rod moves above the first air hole, air in the upper portion of the end tube is introduced into the annular cavity plate through the spiral air tube. In conjunction with the provided ventilation cavity, the airbag expands, thereby strengthening support for the hole. In addition, this design allows the outer diameter of the frustum-shaped protective tube to be smaller than the inner diameter of the detection hole, facilitating insertion of the frustum-shaped protective tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the top cover unfolding and the side guard plate exploding structure of the present invention;

[0024] Figure 3 This is a schematic diagram of the internal structure of the main frame of the present invention;

[0025] Figure 4 This is a schematic diagram of the three-dimensional structure of the frustum protective tube of the present invention;

[0026] Figure 5 It is a schematic diagram of a partial cross-section structure of the main frame of the present invention;

[0027] Figure 6 This is a schematic diagram of the cross-sectional structure of the arc-shaped protective cover of the present invention;

[0028] Figure 7 It is a schematic diagram of the three-dimensional structure of the transmission shaft and transmission gear of the present invention;

[0029] Figure 8 It is a schematic diagram of the three-dimensional structure of the screw rod and the guide rod of the present invention;

[0030] Figure 9 For the present invention Figure 8 A in the middle is an enlarged structural diagram;

[0031] Figure 10 For the present invention Figure 8 Enlarged structural diagram at point B in the middle.

[0032] Reference numerals:

[0033] 1. Main frame; 2. Transparent side panel; 3. Brake wheel; 4. Mounting plate; 5. Flip plate; 6. Torsion spring shaft; 7. Arc-shaped protective cover; 8. Top cover; 9. Side guard plate; 10. Guide rod; 11. Signal line; 12. Screw rod; 13. Moving cross bar; 14. Transmission belt 1; 15. Transmission belt 2; 16. Transmission gear; 17. Transmission shaft; 18. Folded rack; 19. Extended side rod; 20. Guide rod; 21. Drive motor; 22. Processing terminal; 23. End cylinder; 24. Piston rod; 25. Connecting spring; 26. Air hole 1; 27. Air hole 2; 28. Spiral air tube; 29. ​​Ear plate; 30. Annular cavity plate; 31. Cone protective cylinder; 32. Ventilation cavity; 33. Air bag; 34. Detection head; 35. Mounting block; 36. Transmission wheel; 37. Side wheel DETAILED DESCRIPTION

[0034] The present invention is described in detail below, clearly and completely describing the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] The present invention provides an underground cavity 3D imaging device through improvement. The technical solution of the present invention is:

[0036] like Figures 1 to 10 As shown, an embodiment of the present invention provides an underground cavity 3D imaging device, comprising a main frame 1 with a brake wheel 3 installed at the bottom, and a lifting component, a detection component, a cave entrance protection component and a display terminal component installed in the main frame 1;

[0037] The detection component includes a vertically arranged guide rod 10, and a detection head 34 is provided at the bottom end of the guide rod 10; the detection head 34 supports 360° circular scanning and has omnidirectional transmission and receiving functions. Specifically, it can actively transmit high-frequency electromagnetic pulses and collect reflected signals in all directions to form a multi-angle echo data set.

[0038] The hole protection assembly includes a frustum-shaped protective tube 31 coaxially arranged with the guide rod 10, with an annular cavity plate 30 fixed to the top of the frustum-shaped protective tube 31. A plurality of equidistantly distributed airbags 33 are fixed to the outer peripheral wall of the frustum-shaped protective tube 31. A plurality of equidistantly distributed ventilation cavities 32 are defined within the frustum-shaped protective tube 31, with the ends of the ventilation cavities 32 communicating with the annular cavity plate 30 and the airbags 33, respectively. The above structure, through the design of the frustum-shaped protective tube 31 and the airbags 33, can effectively prevent the hole from collapsing or foreign matter from intruding, and can also be adhered to the hole wall through adaptive air pressure adjustment, thereby ensuring the safety and stability of the detection process.

[0039] At the same time, by utilizing the provided frustum protective tube 31, it can first approach and align with the hole opening so as to adjust the position of the device before detection. On the other hand, after the detection is completed, the detection head 34 can first be retracted through the frustum protective tube 31, and then the frustum protective tube 31 can be lifted up again, thereby forming an effective protection effect on the detection head 34 during the detection process.

[0040] The display terminal assembly includes a mounting plate 4 fixed to the main frame 1, and a curved protective cover 7 is fixed to the mounting plate 4. A torsion spring shaft 6 is provided in the curved protective cover 7, and a flip plate 5 is fixed to the torsion spring shaft 6. A processing terminal 22 is fixed to one side of the flip plate 5. The processing terminal 22 is used to receive and process the cavity echo signal and display the cavity three-dimensional model and parameter report through the display screen equipped with the processing terminal 22;

[0041] By utilizing the torsion spring shaft 6 and the flip plate 5, the processing terminal 22 can be flipped to the outside of the device during detection to avoid information display; after detection, the processing terminal 22 will be reset to the inside of the arc-shaped protective cover 7 under the action of the torsion spring shaft 6, thereby achieving effective protection for the processing terminal 22 and information.

[0042] Furthermore, the lifting assembly includes two pairs of mounting blocks 35 fixedly mounted on the main frame 1, and each pair of mounting blocks 35 is rotatably mounted with a screw rod 12, and the two screw rods 12 are commonly connected to a movable cross bar 13 through a thread, and the middle end of the movable cross bar 13 is fixedly connected to the guide rod 10; through the above structure, the arranged screw rod 12 can drive the movable cross bar 13 to lift and lower, ensuring the vertical movement of the guide rod 10, avoiding the deviation of the detection head 34, and preventing the detection head 34 from colliding with foreign objects.

[0043] As a further embodiment of the present invention, Figures 8-10 As shown, a pair of end tubes 23 are fixed to the bottom of the movable crossbar 13 , and a piston rod 24 is slidably installed in the end tube 23 , and an ear plate 29 is fixed between the bottom end of the piston rod 24 and the frustum protection tube 31 .

[0044] Furthermore, each end tube 23 is provided with a pair of air holes 1 26 and a pair of air holes 27. Air hole 1 26 is located directly above air hole 27. The two end tubes 23 are fixedly connected with a spiral air pipe 28, and the spiral air pipe 28 is spirally sleeved on the outside of the end tube 23 and the piston rod 24. The bottom end of the spiral air pipe 28 is fixedly connected to the annular cavity plate 30, and a connecting spring 25 is fixed between the top of the piston rod 24 and the top of the end tube 23.

[0045] Through the above structure, when detecting, the movable crossbar 13 moves downward, as shown in the attached figure. Figure 3-Figure 5 As shown, the provided frustum protective tube 31 is located on the outside of the detection head 34, which can protect the detection head 34 during the process of extending into the hole, thereby preventing the detection head 34 from scratching the hole; when the frustum protective tube 31 is inserted into the hole, the movable cross bar 13 continues to move downward, while the frustum protective tube 31 stays at the hole position. At the same time, the end tube 23 moves downward compared to the piston rod 24. When the piston rod 24 moves to above the air hole 26, the air in the upper part of the end tube 23 can be input into the annular cavity plate 30 through the spiral air pipe 28, and cooperate with the provided ventilation cavity 32 to expand the air bag 33, thereby strengthening the support for the hole. In addition, this design also makes the outer diameter of the frustum protective tube 31 smaller than the inner diameter of the detection hole, so as to facilitate the insertion of the frustum protective tube 31.

[0046] Furthermore, a pair of guide rods 20 are fixed at a position of the main frame 1 near the mounting plate 4, and an extension side rod 19 is sleeved on the guide rod 20, and the end of the extension side rod 19 is fixed on the movable cross bar 13; by cooperating with the set guide rod 20 and the extension side rod 19, the stability of the movement of the movable cross bar 13 can be further improved.

[0047] As a further embodiment of the present invention, Figure 4-Figure 7 As shown, a folded rack 18 is fixed on one side of each of the two extended side rods 19, and a transmission shaft 17 is rotatably installed on one end of each side of the mounting plate 4 near the bottom. A transmission belt 2 15 is provided between the transmission shaft 17 and the torsion spring shaft 6, and a transmission gear 16 that is compatible with the folded rack 18 is fixed on the transmission shaft 17; through the above structure, when detecting, the moving cross bar 13 moves downward, and synchronously drives the extended side rod 19 to move downward synchronously. When the folded rack 18 contacts the transmission gear 16, it can push the transmission shaft 17 to rotate, and then through the transmission of the transmission belt 2 15, drive the torsion spring shaft 6 and the processing terminal 22 to flip.

[0048] Furthermore, a drive motor 21 is fixed to one side of the main frame 1 , and an output shaft of the drive motor 21 is fixedly connected to one of the lead screws 12 .

[0049] Furthermore, a transmission wheel 36 is fixed to the top of the two screw rods 12, and a pair of side wheels 37 are installed at the end of the main frame 1 near the top. The two transmission wheels 36 and the two side wheels 37 are jointly covered with a transmission belt 14; through the above structure, when the drive motor 21 is started, it can drive the screw rod 12 connected thereto to rotate. At the same time, through the action of the transmission belt 14, the side wheels 37 and the transmission wheel 36, the two screw rods 12 rotate synchronously. At the same time, the transmission belt 14 can be kept away from the guide rod 10 to avoid interference with the movement of the guide rod 10.

[0050] As a further embodiment of the present invention, Figure 2-Figure 5 As shown, a signal line 11 is fixed to the top of the guide rod 10. The signal line 11 is spiral. A section of the signal line 11 is embedded in the guide rod 10 for power supply and signal transmission. The two ends of the signal line 11 are electrically connected to the detection head 34 and the processing terminal 22 respectively; through the above structure, the detection head 34 scans in a circular direction in the cavity, and the data is transmitted to the processing terminal 22 via the signal line 11.

[0051] Further, such as Figure 1-Figure 3 As shown, two side guard plates 9 are fixed between one side of the main frame 1 and the mounting plate 4, a pair of transparent side panels 2 are fixed on the other three sides of the main frame 1, and the top of the main frame 1 is connected to the top cover 8 by a hinge; through the above structure, the side guard plates 9 and the transparent side panels 2 are arranged, and the top cover 8 is cooperated with the top cover 8 to protect the equipment.

[0052] The specific working method is: when in use, the device can be moved to the drilled detection hole, and the provided frustum protection cylinder 31 can be used to first approach and align with the hole, so as to adjust the position of the device before detection. When the frustum protection cylinder 31 is aligned with the hole, the brake wheel 3 under the device can be braked, and the drive motor 21 is started to drive the screw rod 12 connected thereto to rotate. At the same time, through the action of the transmission belt 14, the side wheel 37 and the transmission wheel 36, the two screw rods 12 rotate synchronously, and then drive the moving cross bar 13 to rise and fall, ensuring the vertical movement of the guide rod 10, avoiding the deviation of the detection head 34, and preventing the detection head 34 from colliding with foreign objects; when detecting, the moving cross bar 13 moves downward, as shown in the attached figure. Figure 3-Figure 5 As shown, the provided frustum protection tube 31 is located on the outside of the detection head 34, which can protect the detection head 34 during the process of inserting into the hole, thereby preventing the detection head 34 from scratching the hole. When the frustum protection tube 31 is inserted into the hole, the movable cross bar 13 continues to move downward, while the frustum protection tube 31 stays at the hole position. At the same time, the end tube 23 moves downward relative to the piston rod 24. When the piston rod 24 moves to above the air hole 26, the air in the upper part of the end tube 23 can be input through the spiral air pipe 28. The annular cavity plate 30 is provided with a ventilation cavity 32, which causes the airbag 33 to expand, thereby strengthening the support of the hole. At the same time, when detecting, the movable crossbar 13 moves downward, and simultaneously drives the extended sidebar 19 to move downward. When the folded rack 18 contacts the transmission gear 16, it can drive the transmission shaft 17 to rotate. Then, through the transmission of the second transmission belt 15, the torsion spring shaft 6 and the processing terminal 22 are driven to flip over. This facilitates flipping the processing terminal 22 to the outside of the device during detection to avoid information display.

[0053] During the detection process, the detection head 34 performs a 360° circular scan, actively emits high-frequency electromagnetic pulses and collects reflected signals in all directions to form a multi-angle echo data set; the processing terminal 22 receives and processes the cavity echo signal, and displays the cavity three-dimensional model and parameter report through the display screen equipped with the processing terminal 22; and after the detection, the processing terminal 22 will be reset to the inside of the arc-shaped protective cover 7 under the action of the torsion spring shaft 6, thereby achieving effective protection for the processing terminal 22 and information; at the same time, after the detection, the movable cross bar 13 will move upward and first drive the detection head 34 to move upward. During the process, the end tube 23 moves upward compared to the piston rod 24, thereby forming a negative pressure and causing the airbag 33 to shrink. When the movable cross bar 13 is completely reset, the set frustum protective tube 31 is sleeved on the outside of the detection head 34 and again forms a protective effect on the detection head 34.

[0054] The above description is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An underground cavity 3D imaging device, comprising a main frame (1) with a brake wheel (3) mounted on the bottom, characterized in that: The main frame (1) is provided with a lifting assembly, a detection assembly, a hole protection assembly, and a display terminal assembly; the detection assembly includes a vertically arranged guide rod (10), and a detection head (34) is provided at the bottom end of the guide rod (10); The hole protection assembly includes a cone-shaped protective tube (31) coaxially arranged with the guide rod (10), and an annular cavity plate (30) is fixed on the top of the cone-shaped protective tube (31), and a plurality of air bags (33) distributed at equal distances are fixed on the outer peripheral wall of the cone-shaped protective tube (31), and a plurality of ventilation cavities (32) distributed at equal distances are opened inside the cone-shaped protective tube (31), and the two ends of the ventilation cavity (32) are respectively connected to the annular cavity plate (30) and the air bags (33); the display terminal assembly includes a mounting plate (4) fixed on the main frame (1), and an arc-shaped protective cover (7) is fixed on the mounting plate (4), a torsion spring shaft (6) is arranged in the arc-shaped protective cover (7), a flip plate (5) is fixed on the torsion spring shaft (6), and a processing terminal (22) is fixed on one side of the flip plate (5); The lifting assembly comprises two pairs of mounting blocks (35) fixedly mounted on the main frame (1), and each pair of mounting blocks (35) is rotatably mounted with a screw rod (12), the two screw rods (12) are commonly connected to a moving cross rod (13) through a thread, and the middle end of the moving cross rod (13) is fixedly connected to the guide rod (10); A pair of end tubes (23) are fixed to the bottom of the movable crossbar (13), and a piston rod (24) is slidably installed in the end tube (23), and an ear plate (29) is fixed between the bottom end of the piston rod (24) and the cone protection tube (31); Each of the end tubes (23) is provided with a pair of air holes (1) (26) and a pair of air holes (27), and the air hole (1) (26) is located directly above the air hole (27). The two end tubes (23) are fixedly connected with a spiral air pipe (28), and the spiral air pipe (28) is spirally sleeved on the outer side of the end tube (23) and the piston rod (24). The bottom end of the spiral air pipe (28) is fixedly connected with the annular cavity plate (30), and a connecting spring (25) is fixed between the top of the piston rod (24) and the top of the end tube (23).

2. The underground cavity 3D imaging device according to claim 1, characterized in that: A pair of guide rods (20) are fixed to the main frame (1) at positions close to the mounting plate (4), and an extension side rod (19) is sleeved on the guide rod (20), and the ends of the extension side rod (19) are fixed to the movable cross rod (13).

3. The underground cavity 3D imaging device according to claim 2, characterized in that: A folded rack (18) is fixed on one side of each of the two extended side rods (19), and a transmission shaft (17) is rotatably mounted on one end of each side of the mounting plate (4) near the bottom. A second transmission belt (15) is sleeved between the transmission shaft (17) and the torsion spring shaft (6), and a transmission gear (16) adapted to the folded rack (18) is fixed on the transmission shaft (17).

4. The underground cavity 3D imaging device according to claim 1, characterized in that: A drive motor (21) is fixed to one side of the main frame (1), and an output shaft of the drive motor (21) is fixedly connected to one of the lead screws (12).

5. The underground cavity 3D imaging device according to claim 1, characterized in that: A transmission wheel (36) is fixed to the top of each of the two screw rods (12), and a pair of side wheels (37) are installed at one end of the main frame (1) near the top. The two transmission wheels (36) and the two side wheels (37) are jointly sleeved with a transmission belt (14).

6. The underground cavity 3D imaging device according to any one of claims 1 to 5, characterized in that: A signal line (11) is fixed to the top of the guide rod (10), and the signal line (11) is spiral-shaped. Two ends of the signal line (11) are electrically connected to the detection head (34) and the processing terminal (22) respectively.

7. The underground cavity 3D imaging device according to claim 1, characterized in that: Two side guard plates (9) are fixed between one side of the main frame (1) and the mounting plate (4), a pair of transparent side plates (2) are fixed to the other three sides of the main frame (1), and the top end of the main frame (1) is connected to a top cover (8) via a hinge.

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