Road cavity comprehensive detection device

Abstract

The invention relates to a road cavity comprehensive detection device, which comprises a device main body, a data measurement and observation mechanism, a lifting device and an electrical cabinet, the device main body is provided with wheels, the data measurement and observation mechanism is rotatably mounted on the lifting device, and the lifting device is mounted in the device main body and drives the data measurement and observation mechanism to lift. The electrical cabinet is installed on one side of the device body and electrically connected with the data measuring and observing mechanism and the lifting device. Compared with the prior art, through the rotatable data measurement and observation mechanism and the lifting device, the pose of the radar equipment can be adjusted, and a better detection effect can be achieved; an interactive interface is adopted, man-machine interaction is achieved, and an operator can use the system conveniently; damping hinge connection is adopted, the angle is adjustable, and the requirements of different operators are met; the radar and the endoscope are arranged, point cloud data can be collected, image data can also be collected, and the detection result is more precise and visual.

Description

Technical Field

[0001] The present invention relates to the technical field of roadbed cavity detection and measurement, and in particular to a comprehensive road cavity detection device. Background Art

[0002] Municipal roads, as an important part of urban infrastructure, carry a large amount of traffic and life activities. However, in addition to surface defects on the road surface, defects within the road structure, such as voids, poor structures, loose and unconsolidated areas, have an adverse impact on the long-term performance and safety of the road. If these problems are not discovered and addressed in a timely manner, they may lead to road damage, traffic accidents and increased maintenance costs. Ground penetrating radar technology has become an effective tool for underground target detection in recent decades. It can penetrate deep underground in a non-destructive manner to detect the location and volume of underground structures and voids. Although existing ground penetrating radar devices for municipal road voids can effectively detect voids, they have the following problems: 1) Lack of portability: Existing devices are difficult to carry conveniently in different road environments, limiting their operational flexibility; 2) Inconvenient operation: Existing ground penetrating radar equipment lacks posture adjustment function, making it difficult to fully detect the volume size of road voids, and the operating efficiency is low.

[0003] After searching, the authorization announcement number CN218436525U discloses a road hole detection vehicle, which specifically discloses: it includes: a radar detector, a fixed rod, a handle, a cross plate and a fixed block. The upper surface of the radar detector is connected to the fixed rod through a support rod, the two sides of the fixed rod are connected to the handle, and the outer side of the fixed rod is connected to the cross plate. The road hole detection vehicle can detect holes at the bottom of the road through the radar detector, and has the function of clearing some larger obstacles.

[0004] However, this existing technology mainly solves the problem of how to clear obstacles during road detection, but does not achieve the position adjustment of the ground penetrating radar equipment, resulting in poor detection results. Therefore, how to design a portable road detection device with adjustable radar equipment position is a technical problem that needs to be solved. Summary of the Invention

[0005] The purpose of the present invention is to provide a comprehensive road cavity detection device in order to overcome the defect of poor detection effect caused by the non-adjustable posture of the ground penetrating radar equipment in the above-mentioned prior art.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] According to one aspect of the present invention, a comprehensive road cavity detection device is provided, comprising a device body, a data measurement and observation mechanism, a lifting device and an electrical cabinet, wherein the device body is equipped with wheels, the data measurement and observation mechanism is a rotatable mechanism and is mounted on the lifting device, the lifting device is mounted in the device body, and drives the data measurement and observation mechanism to rise and fall, and the electrical cabinet is mounted on one side of the device body and is electrically connected to the data measurement and observation mechanism and the lifting device.

[0008] As a preferred technical solution, the device further includes an interactive interface, which is mounted on the other side of the device body opposite to the electrical cabinet via a damping hinge and is electrically connected to the electrical cabinet.

[0009] As a preferred technical solution, the interactive interface includes a shell and a display screen and an observation terminal installed in the shell. The display screen is located on one side of the shell and controls the lifting and lowering of the lifting device; the observation terminal is located on the other side of the shell and receives information sent by the data measurement and observation mechanism and sends the information to the host computer.

[0010] As an optimal technical solution, the lifting device includes a linear slide module, a module fixing plate and a telescopic rod. The linear slide module is installed in the device body through the module fixing plate; the linear slide module includes a first motor, a guide rail, a driving screw and a slide. One end of the driving screw is connected to the output shaft of the first motor, and the other end is connected to the slide. The guide rail is installed on the slide; one end of the telescopic rod is connected to the linear slide module, and the other end is connected to the data measurement and observation mechanism.

[0011] As an optimal technical solution, the data measurement and observation mechanism includes a transmission shaft, a bearing turntable, a drive module, an observation module and a limiter. The transmission shaft passes through and forms a rotating pair with the bearing turntable, one end is connected to the drive module, and the other end is connected to the observation module. The limiter is installed on the observation module.

[0012] As an optimal technical solution, the bearing turntable includes a bearing mounting seat, a tapered roller bearing, and a bearing turntable upper cover plate and a bearing turntable lower cover plate respectively installed on both sides of the bearing mounting seat. The drive shaft is installed through the bearing turntable, the bearing turntable upper cover plate and the bearing turntable lower cover plate. The inner ring of the tapered roller bearing cooperates with the drive shaft, and the outer ring cooperates with the bearing mounting seat. A step is provided on the drive shaft, and one side of the tapered roller bearing is stuck on the step, and the other side is fixed by a bearing retaining spring.

[0013] As a preferred technical solution, the drive module includes a stud, a second motor, a coupling, a mechanism connecting plate and a motor bracket, the two ends of the stud are respectively connected to a mechanism connecting plate, the motor bracket is installed between the two mechanism connecting plates, and the second motor is installed on the motor bracket; one end of the coupling is connected to the output shaft of the second motor, and the other end is connected to the transmission shaft.

[0014] As a preferred technical solution, the observation module includes a locking nut, a laser radar, a radar protection cover, a first laser radar mounting plate and a second laser radar mounting plate. The other end of the transmission shaft is provided with a thread, which passes through the first laser radar mounting plate and cooperates with the locking nut; the second laser radar mounting plate is connected to the first laser radar mounting plate to form an L-shaped structure; the laser radar is installed on one side of the second laser radar mounting plate, and a laser radar protection cover is installed on the outside; the transmission shaft is a hollow structure, and the cable of the laser radar passes through the transmission shaft and is connected to the controller.

[0015] As a preferred technical solution, the limiter includes a bottom switch bracket, a bottom switch, a return to zero switch, an endoscope and an endoscope mounting block. The bottom switch bracket is installed on the driving module, the bottom switch is installed on the bottom switch bracket, the return to zero switch is installed on the mechanism connecting plate, and the endoscope is installed on the other side of the second laser radar mounting plate through the endoscope mounting block.

[0016] As a preferred technical solution, the electrical cabinet includes an electrical cabinet body and an equipment master control board, a first motor driver, a second motor driver and a laser radar driver installed in the electrical cabinet body; the electrical cabinet body is installed on one side of the device body; the equipment master control board controls the detection device; the first motor driver is connected to the lifting device, and the second motor driver and the laser radar driver are connected to the data measurement and observation mechanism.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1) The present invention realizes the adjustable position and posture of the radar equipment through the rotatable data measurement and observation mechanism and the lifting device, which can achieve better detection effect;

[0019] 2) The present invention adopts an interactive interface to realize human-computer interaction, which is convenient for operators to use; it uses a damping hinge connection with adjustable angle to meet the needs of different operators;

[0020] 3) The present invention is equipped with a radar and an endoscope, which can collect both point cloud data and image data, making the detection results more precise and intuitive. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1This is a schematic diagram of the overall structure of a comprehensive road cavity detection device from a first angle according to the present invention;

[0022] Figure 2 This is a schematic diagram of the overall structure of a comprehensive road cavity detection device from a second angle of the present invention;

[0023] Figure 3 This is the front view of the data measurement and observation mechanism of the present invention;

[0024] Figure 4 This is a right side view of the data measurement and observation mechanism of the present invention;

[0025] Figure 5 Schematic diagram of the overall structure of the data measurement and observation mechanism of the present invention;

[0026] Figure 6 This is a front view of the bearing turntable of the present invention;

[0027] Figure 7 This is a cross-sectional view of the bearing turntable of the present invention;

[0028] Figure 8 This is a schematic diagram of the overall structure of the bearing turntable of the present invention;

[0029] Figure 9 This is a front view of the transmission shaft of the present invention;

[0030] Figure 10 This is a cross-sectional view of the transmission shaft of the present invention;

[0031] Figure 11 A schematic diagram for use in the present invention;

[0032] The numbers in the figure show:

[0033] 1. Device body, 2. Data measurement and observation mechanism, 3. Interactive interface, 4. Electrical cabinet, 5. Lifting device, 6. First motor, 7. Telescopic rod, 8. Stud, 9. Second motor, 10. Coupling, 11. Drive shaft, 12. Lock nut, 13. Cable, 14. Bottom switch bracket, 15. Bottom switch, 16. Bearing turntable, 17. LiDAR, 18. Radar protection cover, 19. Mechanism connecting plate, 20. Motor bracket, 21. Return to zero switch , 22. First laser radar mounting plate, 23. Endoscope, 24. Endoscope mounting block, 25. Second laser radar mounting plate, 26. Bearing turntable upper cover, 27. Bearing mounting seat, 28. Tapered roller bearing, 29. Bearing retaining ring, 30. Bearing turntable lower cover, 31. Zero return switch mounting groove, 32. Bearing mounting surface, 33. Bearing retaining ring mounting groove, 34. Locking thread, 35. Module fixing plate, 36. Guide rail, 37. Drive screw, 38. Slide. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0035] like Figure 1 and Figure 2 As shown, the present invention proposes a comprehensive road cavity detection device that addresses the limitations of existing devices in portability and operation in various road environments, as well as the difficulty of efficiently measuring road cavity volumes due to the lack of automatic telescopic functionality in ground-penetrating radar equipment. The device comprises a main body 1, a data measurement and observation mechanism 2, an interface 3, an electrical cabinet 4, and a lifting mechanism 5. The main body 1 is equipped with wheels for easy movement. The interface 3 is located on the upper rear side of the main body 1, the electrical cabinet 4 is located on the lower front side of the main body 1, and the lifting mechanism 5 is located inside the main body 1. The data measurement and observation mechanism 2 is located at the lower end of the lifting mechanism 5.

[0036] The lifting device 5 includes a linear slide module, a module fixing plate 35, a telescopic rod 7 fixing block and a telescopic rod 7. The linear slide module includes a first motor 6, a guide rail 36, a drive screw 37 and a slide 38. The first motor 6 is installed on one side of the linear slide module, the guide rail 36 is installed at the bottom of the linear slide module, and the drive screw 37 is installed in the center of the linear slide module. One end is connected to the output shaft of the first motor 6, and the other end is installed at the other end of the linear slide module through a bearing and connected to the slide 38. The bottom of the linear slide module is installed on the guide rail 36, and the center cooperates with the drive screw 37. The arrangement of the linear slide module ensures that its movement direction is vertical. The module fixing plate 35 is installed on the bottom of the linear slide module by bolts, and another set of bolts is used to install the linear slide module on the equipment frame. One end of the telescopic rod 7 is connected to the lifting device 5 through the telescopic rod 7 fixing block, and the other end is connected to the data measurement and observation mechanism 2.

[0037] The interactive interface 3 is mounted above the device and connected to the frame of the main body 1 via a damping hinge. The angle can be manually adjusted to accommodate operators of varying heights. The device comprises a display screen, an observation terminal, and a housing. The display screen can optionally be an LCD. The display screen is located to the left of the interactive interface 3 and is used to display the current depth and control the device's telescopic movement. The endoscope 23 terminal is located to the right of the measuring mechanism. It receives image information from the endoscope 23 and provides a Wi-Fi hotspot, which connects to a host PC via this Wi-Fi hotspot and transmits image information to the PC via Wi-Fi. The LCD screen and the endoscope 23 terminal are embedded in the housing. The LCD screen is connected to the device's main control board via a UART serial communication cable 13, which is installed in the electrical cabinet 4. The endoscope 23 terminal is connected to the endoscope 23 via a wired connection and to an external PC via Wi-Fi. The lower half of the housing has a recessed groove to accommodate the LCD screen and endoscope 23. The upper half of the housing has two rectangular openings, whose size and position correspond to the display components of the LCD screen and endoscope 23 terminal. The upper and lower halves of the housing are connected by bolts, protecting the LCD screen and endoscope 23 terminal. The operator can manually control the detection depth using three buttons: raise, lower, and reset. Raise and lower only take effect when the operator manually touches the screen, while reset requires a single click on the screen to trigger the automatic activation until the device resets and stops automatically.

[0038] The electrical cabinet 4 is mounted on the lower front side of the device body 1 and includes the electrical cabinet body, the device master control board, the first motor driver, the second motor driver, the lidar driver, an industrial router, a network switch, an air conditioner, and a battery. The electrical cabinet body is mounted diagonally to the aluminum profile at the lower front side of the device using four bolts. The device master control board, industrial router, network switch, and battery are mounted to the grid mounting plate inside the electrical cabinet 4 using self-tapping screws. The air conditioner is secured to the grid mounting plate inside the electrical cabinet 4 using aluminum guide rails 36. The device master control board controls the detection device. The first motor driver is connected to the lifting mechanism 5 to drive the first motor 6. The second motor driver and the lidar driver are connected to the data measurement and observation mechanism 2 to drive the second motor 9 and the lidar 17, respectively. The battery is a 12V lithium battery that outputs 12V DC voltage to directly power the other electronic devices in the device. The air conditioner is directly connected to the battery and controls the power supply of the entire device by turning the air conditioner on and off. The device master control board sends signals through the first and second motor drivers to control the first and second motors 6 and 9. The interactive interface 3 is connected to the device master control board through serial communication, and can receive information sent by the master control board, and can also send information to the master control board to control the operation of the device.

[0039] like Figures 3 to 5 As shown, the data measurement and observation mechanism 2 is mounted at the end of the telescopic rod 7 of the lifting device 5. It is the most important component of the entire device, performing the core functions of geometric data measurement and observation. It includes a transmission shaft 11, a bearing turntable 16, a drive module, an observation module, and a stopper. The transmission shaft 11 passes through the bearing turntable 16, forming a revolute pair. One end is connected to the drive module, and the other end is connected to the observation module. The stopper is mounted on the observation module.

[0040] like Figure 6 and Figure 7 As shown, the bearing turntable 16 includes a bearing mount 27, a tapered roller bearing 28, a bearing turntable upper cover 26, and a bearing turntable lower cover 30. The bearing turntable upper cover 26 and the bearing turntable lower cover 30 are respectively mounted on either side of the bearing mount 27. The transmission shaft 11 is provided with multiple steps for different types of assembly, and is designed with a hollow structure to accommodate the passage of the cable 13. The outer surface of the bearing assembly of the transmission shaft 11 is mounted in a mating manner with the inner ring of the tapered roller bearing 28. The outer ring of the tapered roller bearing 28 is mated with the inner surface of the bearing mount 27. The steps on the bearing mount 27 and the transmission shaft 11, as well as the bearing retaining ring 29 installed on the transmission shaft 11, ensure that the tapered roller bearing 28 is fixed in a fixed position, allowing the transmission shaft 11 to stably perform circular motion and withstand vertical downward loads. By taking advantage of the tapered roller bearing 28's ability to withstand axial and radial loads, the drive shaft 11 is installed in the tapered roller bearing 28, and the tapered roller bearing 28 is installed inside the bearing turntable 16. At this time, the drive shaft 11 can withstand axial and radial loads and can achieve stable circular motion.

[0041] like Figure 8 As shown, the bearing turntable 16 is mainly composed of metal parts and bolts, and the return to zero switch 21 is installed in the return to zero switch installation groove 31 and is installed using bolts. The transmission shaft 11 is installed in the center of the bearing turntable 16 and can rotate and withstand vertical downward loads.

[0042] The drive module includes a stud 8, a second motor 9, a coupling 10, a mechanism connecting plate 19, and a motor bracket 20. The stud 8 connects the upper and lower mechanism connecting plates 19, with the second motor 9 mounted in the hollow space between them. The second motor 9 is mounted on and elevated by the motor bracket 20. The output shaft of the second motor 9 is connected to one end of the coupling 10, and the other end of the coupling 10 is connected to one end of the drive shaft 11. Specifically, the second motor 9 is a rotary stepper motor.

[0043] The observation module includes a locking nut 12, a laser radar 17, a radar protection cover 18, a first laser radar mounting plate 22 and a second laser radar mounting plate 25. The middle part of the drive shaft 11 is installed in the bearing turntable 16. The end thread of the drive shaft 11 cooperates with the locking nut 12 to fix the first laser radar mounting plate 22, thereby realizing the circular motion and vertical load-bearing of the first laser radar mounting plate 22. The second laser radar mounting plate 25 is mounted on the first laser radar mounting plate 22 by bolts, and the two form an L-shaped matching shape. The laser radar 17 is mounted on the second laser radar mounting plate 25 by bolts. A laser radar protection cover 18 is installed on the outside of the laser radar 17 to protect the laser radar 17. The laser radar 17 cable 13 passes through the hollow space of the drive shaft 11, through the entire mechanism, and is connected to the controller. By mounting the laser radar 17 and endoscope 23 on the first laser radar mounting plate 22 and connecting the first laser radar mounting plate 22 to the drive shaft 11, the laser radar 17 and endoscope 23 can be rotated stably at a fixed height. The other end of the drive shaft 11 is connected to the second motor 9, which drives the laser radar 17 and endoscope 23 to rotate stably.

[0044] The limiter includes a bottom switch bracket 14, a bottom switch 15, a return-to-zero switch 21, an endoscope 23, and an endoscope mounting block 24. The bottom switch bracket 14 is located at the very bottom of the mechanism and is screwed to the lidar protective cover 18. The bottom switch 15 is bolted to the bottom switch bracket 14. The return-to-zero switch 21 is mounted on the lower connecting plate of the mechanism to enable the return-to-zero operation of the bottom mechanism. The endoscope 23 is mounted on the back side of the second lidar mounting plate 25 and is secured to the second lidar mounting plate 25 using the endoscope mounting block 24 and bolts.

[0045] like Figure 9 As shown, the bearing mounting surface 32 mates with the inner ring of the tapered roller bearing 28. The bearing retaining ring mounting groove 33 is used to install the bearing retaining ring 29, which prevents the bearing inner ring from falling off. The end of the transmission shaft 11 is equipped with an M12 locking thread 34, which is used to mate with the locking nut 12 to secure the first lidar mounting plate 22.

[0046] like Figure 10 As shown, the middle of the transmission shaft 11 is a hollow structure, and the interior of the hollow shaft body can accommodate the cable 13 of the device to pass through.

[0047] The laser radar 17 is a sensor that measures the distance to surrounding objects by emitting lasers. The more laser beams emitted, the more areas and details can be sensed, and by rotating and scanning the reflected laser, the three-dimensional shape of an area can be obtained. The endoscope 23 can be regarded as an extended camera. The head is equipped with waterproof cameras in two directions (vertically downward and sideways), and is equipped with a searchlight. In the middle is a transmission data cable with a customizable length of up to 10m. The end is the endoscope 23 terminal, which is used to store and transmit the data received from the camera. The data collected by the two is visually displayed in the interactive interface 3, with point cloud data displayed on the left and video and image data displayed on the right. By processing the point cloud data, the volume of the underground cavity can be calculated, and the specific conditions of the underground cavity environment can be observed with the naked eye through video and image data.

[0048] The present invention uses the following process:

[0049] like Figure 11 As shown, move the device to the designated worksite, aligning the data measurement and observation mechanism 2 over the inspection hole drilled there. Then, connect the network cable to the PC. After starting the device, the measurement mechanism lift interface 3 controls the lift mechanism 5, extending it downward. Before officially detecting, ensure that the measurement mechanism lift interface 3 is properly controlling the lift mechanism 5. Open the PC host software to ensure proper data communication between the PC and the data measurement and observation mechanism 2. Once all preparations are complete, use the measurement mechanism lift interface 3 to lower the device into the ground. The endoscope 23 allows for detailed observation of the current depth, and the measurement mechanism lift interface 3 provides information on the current depth. The endoscope 23 image and the measurement mechanism lift interface 3 determine whether the appropriate depth has been reached. Once the appropriate depth has been reached, the PC host controls the data measurement and observation mechanism 2 to perform the inspection. The inspection process consists of three steps: device zero return, laser sampling, and point cloud reconstruction. These three operations can be performed sequentially using the host software by clicking the mouse. After the inspection is complete, the specific shape and volume of the underground cavity can be determined. Subsequently, the host computer can manually control the rotation of the data measurement and observation mechanism 2, allowing the endoscope 23 to continue visually observing the underground cavity environment. After the inspection is complete, the data measurement and observation mechanism 2 can be automatically retracted to its zero position by clicking the reset button on the measurement mechanism elevation interface 3. After all work is completed, the device is powered off and the network cable to the PC is disconnected, and the device can be moved and loaded onto a vehicle.

[0050] This invention uses a 360° rotating scanning detection device deep underground to detect the volume and specific environment of underground cavities on municipal roads. Operators can manually operate an ergonomically designed command panel, enabling flexible deployment, operation, and recovery of the device. Detected data is directly uploaded to a host computer for processing, generating both point cloud and image data. The detection is highly precise and intuitive. The device is easily portable and user-friendly, suitable for a variety of road environments, and easy to operate.

[0051] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A comprehensive road cavity detection device, characterized in that: The device comprises a device body (1), a data measurement and observation mechanism (2), a lifting device (5) and an electrical cabinet (4); the device body (1) is equipped with wheels; the data measurement and observation mechanism (2) is a rotatable mechanism and is mounted on the lifting device (5); the lifting device (5) is mounted in the device body (1) and drives the data measurement and observation mechanism (2) to rise and fall; the electrical cabinet (4) is mounted on one side of the device body (1) and is electrically connected to the data measurement and observation mechanism (2) and the lifting device (5).

2. A road cavity comprehensive detection device according to claim 1, characterized in that: The device also includes an interactive interface (3), which is installed on the other side of the device body (1) opposite to the electrical cabinet (4) through a damping hinge and is electrically connected to the electrical cabinet (4).

3. The road cavity comprehensive detection device according to claim 2, characterized in that: The interactive interface (3) includes a shell and a display screen and an observation terminal installed in the shell. The display screen is located on one side of the shell and controls the lifting and lowering of the lifting device (5); the observation terminal is located on the other side of the shell and receives information sent by the data measurement and observation mechanism (2) and sends the information to the host computer.

4. The comprehensive road cavity detection device according to claim 1, characterized in that: The lifting device (5) includes a linear slide module, a module fixing plate (35) and a telescopic rod (7), wherein the linear slide module is installed in the device body (1) through the module fixing plate (35); the linear slide module includes a first motor (6), a guide rail (36), a driving screw (37) and a slide (38), one end of the driving screw (37) is connected to the output shaft of the first motor (6), and the other end is connected to the slide (38), and the guide rail (36) is installed on the slide (38); one end of the telescopic rod (7) is connected to the linear slide module, and the other end is connected to the data measurement and observation mechanism (2).

5. The road cavity comprehensive detection device according to claim 1, characterized in that: The data measurement and observation mechanism (2) comprises a transmission shaft (11), a bearing turntable (16), a driving module, an observation module and a stopper. The transmission shaft (11) passes through and forms a rotating pair with the bearing turntable (16), one end of which is connected to the driving module and the other end of which is connected to the observation module. The stopper is installed on the observation module.

6. The comprehensive road cavity detection device according to claim 5, characterized in that: The bearing turntable (16) includes a bearing mounting seat (27), a tapered roller bearing (28), and a bearing turntable upper cover plate (26) and a bearing turntable lower cover plate (30) respectively mounted on both sides of the bearing mounting seat (27). The transmission shaft (11) is installed through the bearing turntable (16), the bearing turntable upper cover plate (26) and the bearing turntable lower cover plate (30). The inner ring of the tapered roller bearing (28) cooperates with the transmission shaft (11), and the outer ring cooperates with the bearing mounting seat (27). A step is provided on the transmission shaft (11). One side of the tapered roller bearing (28) is clamped on the step, and the other side is fixed by a bearing retaining ring (29).

7. The comprehensive road cavity detection device according to claim 5, characterized in that: The driving module comprises a stud bolt (8), a second motor (9), a coupling (10), a mechanism connecting plate (19) and a motor bracket (20), wherein the two ends of the stud bolt (8) are respectively connected to a mechanism connecting plate (19), a motor bracket (20) is installed between the two mechanism connecting plates (19), and the second motor (9) is installed on the motor bracket (20); one end of the coupling (10) is connected to the output shaft of the second motor (9), and the other end is connected to the transmission shaft (11).

8. The comprehensive road cavity detection device according to claim 5, characterized in that: The observation module includes a locking nut (12), a laser radar (17), a radar protection cover (18), a first laser radar mounting plate (22) and a second laser radar mounting plate (25); the other end of the transmission shaft (11) is provided with a thread, passes through the first laser radar mounting plate (22), and cooperates with the locking nut (12); the second laser radar mounting plate (25) is connected to the first laser radar mounting plate (22) to form an L-shaped structure; the laser radar (17) is installed on one side of the second laser radar mounting plate (25), and a laser radar protection cover (18) is installed on the outside; the transmission shaft (11) is a hollow structure, and the cable (13) of the laser radar (17) passes through the transmission shaft (11) and is connected to the controller.

9. The comprehensive road cavity detection device according to claim 5, characterized in that: The limiter includes a bottom switch bracket (14), a bottom switch (15), a return-to-zero switch (21), an endoscope (23) and an endoscope mounting block (24); the bottom switch bracket (14) is mounted on the driving module; the bottom switch (15) is mounted on the bottom switch bracket (14); the return-to-zero switch (21) is mounted on the mechanism connecting plate (19); and the endoscope (23) is mounted on the other side of the second laser radar mounting plate (25) through the endoscope mounting block (24).

10. The comprehensive road cavity detection device according to claim 1, characterized in that: The electrical cabinet (4) comprises an electrical cabinet body and a device master control board, a first motor driver, a second motor driver and a laser radar driver installed in the electrical cabinet body; the electrical cabinet body is installed on one side of the device body (1); the device master control board controls the detection device; the first motor driver is connected to the lifting device (5), and the second motor driver and the laser radar driver are connected to the data measurement and observation mechanism (2).

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