Road cavity and underground disease body collapse hidden danger detection device and detection method

Abstract

The invention relates to the field of road cavity detection, and discloses a road cavity and underground disease body collapse hidden danger detection device and detection method.The road cavity and underground disease body collapse hidden danger detection device comprises a movable bottom plate, a supporting plate is installed on the movable bottom plate, a rotating disc is movably installed in the middle of the supporting plate and rotates in the supporting plate, and a transmission shaft is installed at the bottom of the rotating disc; a first gear is fixedly installed on the transmission shaft, a rotating mechanism is arranged on one side of the first gear, a hydraulic rod is installed on the rotating disc, a detection arm is installed at the top end of the hydraulic rod, an electromagnetic wave transmitting module is installed at one end of the detection arm, and the electromagnetic wave transmitting module comprises an electromagnetic wave transmitting body and a broadband transmitting antenna. Through the arrangement of the electromagnetic wave transmitting module, the receiving sensor and the data preprocessor, a set of cooperative linkage underground anomaly detection system is constructed, and the problems of large signal interference, fuzzy data analysis, anomaly positioning deviation and the like in the traditional detection technology are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of road cavity detection, specifically to a detection device and method for detecting road cavities and potential underground defects and collapse. Background Technology

[0002] Detecting road cavities and potential underground defects is crucial for ensuring the safe operation of urban infrastructure and maintaining public safety and social order. Its core value lies in public safety protection, infrastructure safeguarding, economic cost control, and urban management optimization. Road cavities and underground defects are direct causes of road collapses, which pose a fatal threat to pedestrians and vehicles. Specific risks include: sudden collapses of main urban roads and sidewalks may cause pedestrians to fall in or vehicles to get stuck, leading to injuries and fatalities; road subsidence, cracks, or even collapses due to underground cavities may lead to road closures for repairs, causing traffic congestion and affecting urban commuting efficiency; and emergency repairs after a road collapse involve multiple steps such as road excavation, pipeline replacement, and traffic management. Therefore, timely detection is essential to prevent safety accidents.

[0003] In existing technologies, the detection of potential road and underground structure collapse hazards mainly relies on traditional methods such as manual inspection, ground-penetrating radar, and ground-penetrating radar. Manual inspection is inefficient and highly subjective, and it is difficult to cover large areas. Although ground-penetrating radar can penetrate the surface layer, it is limited by electromagnetic wave attenuation and interference from complex underground environments, making data analysis difficult. In addition, the equipment is bulky and the operation is complicated. In recent years, local detection technologies based on vibration sensing and acoustic detection have gradually emerged, but they still have problems such as insufficient detection depth and low resolution. With the acceleration of urbanization, factors such as aging underground pipe networks and construction disturbances have led to frequent road collapse accidents, and there is an urgent need for an efficient, accurate, and automated detection method. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a detection device and method for detecting potential road cavities and underground defects, solving the problem of low work efficiency caused by manual inspections.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a detection device for road cavities and underground subsidence hazards, comprising a movable base plate, a support plate mounted on the movable base plate, a turntable movably mounted in the middle of the support plate, the turntable rotating within the support plate, a drive shaft mounted at the bottom of the turntable, a first gear fixedly mounted on the drive shaft, a rotating mechanism on one side of the first gear, a hydraulic rod mounted on the turntable, a detection arm mounted at the top of the hydraulic rod, an electromagnetic wave transmitting module mounted at one end of the detection arm, the electromagnetic wave transmitting module comprising an electromagnetic wave transmitting body and a broadband transmitting antenna, an electric telescopic rod mounted at the bottom of the electromagnetic wave transmitting body, a working plate connected to the other end of the electric telescopic rod, multiple receiving sensors mounted on the working plate, the multiple receiving sensors arranged in an array, a dustproof component above the receiving sensors, a fixing block mounted at the upper end of the hydraulic rod, and an auxiliary mechanism mounted on the fixing block.

[0006] The above technical solution constructs a collaborative underground anomaly detection system through the installation of an electromagnetic wave transmitting module, receiving sensor, and data preprocessor. Relying on the precise functional integration and data interaction among these three components, it achieves higher-precision analysis of underground anomalies, effectively solving problems such as significant signal interference, ambiguous data interpretation, and anomaly location deviation in traditional detection technologies. Furthermore, the dustproof component effectively prevents dust and other impurities from covering the receiving sensor, and it also has a self-cleaning function to prevent the dustproof mesh from clogging.

[0007] Preferably, the rotating mechanism includes a second gear and a third gear, the second gear and the third gear being located on one side of the first gear, the first gear, the second gear and the third gear being linearly arranged and meshing, and the rotating mechanism also includes a rotating rod mounted on the third gear, the rotating rod being located below the receiving sensor.

[0008] Preferably, the dustproof assembly includes two sets of dustproof nets installed between the working plates. Each set of dustproof nets has two nets arranged vertically. Multiple rings are installed between the two dustproof nets, and multiple spheres are provided in each ring. The spheres are used to clean the dustproof nets.

[0009] Preferably, the auxiliary mechanism includes a first rack mounted on a fixed block, the teeth of the first rack meshing with a drive gear, the teeth of the drive gear meshing with a second rack, a connecting block mounted on the side wall of the second rack, shafts symmetrically mounted at both ends of the connecting block, the ends of the shafts being axially connected to the connecting block, a connecting plate mounted at the lower end of the shafts, an auxiliary wheel mounted at the bottom of the connecting plate, and placement slots on both sides of the middle of the movable base plate for holding the connecting plate and the auxiliary wheel.

[0010] Preferably, a protective screen is installed at the end of the rotating rod. The protective screen is curved and is used to protect the receiving sensor. When the receiving sensor descends to its lowest height, there is a gap between the rotating rod and the working plate.

[0011] Preferably, a drive motor is embedded in the middle of the movable base plate, the output end of the drive motor is connected to the end of the transmission shaft, and an industrial computer is mounted on the movable base plate.

[0012] Preferably, a data preprocessor is installed on the movable base plate, the data preprocessor is connected to the receiving sensor via a shielded cable, and a protective shell is installed on the movable base plate to protect the second gear and the third gear.

[0013] Preferably, when the hydraulic rod is lowered to its lowest point, the connecting plate and the auxiliary wheel are located in the placement groove, and a working box is installed on the support plate, with the first rack, the drive gear and the second rack placed inside the working box.

[0014] Preferably, the protective screen rotates synchronously with the working plate.

[0015] Preferably, S1: The mobile platform travels along a preset path, and the detection arm descends to a height of 30cm above the road surface; S2: The electromagnetic wave transmitting module emits sweeping electromagnetic waves in a directional manner, which penetrate the road surface and generate reflected waves when they encounter cavities or loose media; S3: The receiving sensor synchronously captures the reflected signals, and after the data preprocessor filters out environmental noise, the signals are transmitted to the AI ​​module; S4: The AI ​​module compares the features with the feature library through a convolutional neural network and outputs the location, depth, and risk level of the cavity.

[0016] Working Principle: During operation, the hydraulic rod is first activated, driving the detection arm to move. Once the detection arm is adjusted to the desired position, the movable base plate moves along the planned route. When the hydraulic rod drives the detection arm to rise, it simultaneously drives the fixed block to rise, which in turn drives the first rack to rise. Through the transmission drive gear, the second rack descends, thereby driving the connecting block to descend. As the connecting block descends, the shaft expands outward, causing the auxiliary wheels to unfold outward, lowering the center of gravity of the equipment and making the entire equipment more stable during movement. When it is necessary to rotate the detection arm, the drive motor is activated. The output end of the drive motor drives the transmission shaft and turntable to rotate, thereby driving the hydraulic rod and detection arm to rotate synchronously. While the transmission shaft rotates, it drives the first gear to rotate, which in turn drives the second and third gears to rotate together, thereby driving the rotating rod and protective screen to rotate in sync with the detection arm. During operation, the movable base plate moves along the route, and airflow blows towards the dustproof net, causing the spheres to bounce between the dustproof nets, cleaning the dust on the nets.

[0017] This invention provides a device and method for detecting potential road cavities and underground subsidence hazards. It offers the following advantages: 1. This invention constructs a collaborative underground anomaly detection system by setting up an electromagnetic wave transmitting module, receiving sensor and data preprocessor. Relying on the precise functional connection and data interaction between the three, it can achieve higher precision analysis of underground anomalies and effectively solve the problems of large signal interference, fuzzy data interpretation and anomaly location deviation in traditional detection technology.

[0018] 2. The dustproof net of this invention can effectively prevent dust and impurities from covering the receiving sensor and avoid its sensitivity from decreasing; at the same time, the built-in ball bounces in the ring under the action of wind, which can automatically clean the impurities on the dustproof net and prevent blockage, thereby realizing the self-cleaning function.

[0019] 3. The present invention has an auxiliary mechanism, which is driven by a hydraulic rod. When the hydraulic rod drives the detection arm to rise and fall, it can synchronously control the auxiliary wheel to open or retract adaptively. This action can effectively lower the overall center of gravity of the equipment, thereby preventing it from tilting or falling over during operation and increasing the stability of the equipment. Attached Figure Description

[0020] Figure 1 This is a perspective view of the overall structure of the present invention; Figure 2 This is a rear view diagram of the present invention; Figure 3 For the present invention Figure 2 Enlarged view of point A in the middle; Figure 4 This is a front view schematic diagram of the present invention; Figure 5 This is a schematic diagram of the rotating mechanism of the present invention; Figure 6 This is a schematic diagram of the receiving sensor of the present invention; Figure 7 This is a right-side view of the present invention; Figure 8 This is a schematic diagram of the dustproof component of the present invention.

[0021] The components include: 1. Movable base plate; 2. Support plate; 3. Turntable; 4. Drive shaft; 5. First gear; 6. Rotating mechanism; 601. Second gear; 602. Third gear; 603. Rotating rod; 7. Hydraulic rod; 8. Detection arm; 9. Electromagnetic wave transmitting module; 901. Electromagnetic wave transmitting body; 902. Transmitting antenna; 10. Electric telescopic rod; 11. Working plate; 12. Receiving sensor; 13. Dustproof assembly; 1301. Dustproof net; 1302. Ring; 1303. Sphere; 14. Fixing block; 15. Auxiliary mechanism; 1501. First rack; 1502. Drive gear; 1503. Second rack; 1504. Connecting block; 1505. Shaft; 1506. Connecting plate; 1507. Auxiliary wheel; 16. Protective screen; 17. Drive motor; 18. Industrial computer; 19. Data preprocessor; 20. Protective shell; 21. Working box. Detailed Implementation

[0022] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention. Example

[0023] Reference Figure 1 and Figure 2 as well as Figure 3 This invention provides a detection device for potential road cavities and underground subsidence hazards, including a movable base plate 1, a support plate 2 mounted on the movable base plate 1, a turntable 3 movably mounted in the middle of the support plate 2, the turntable 3 rotating within the support plate 2, a drive shaft 4 mounted at the bottom of the turntable 3, a first gear 5 fixedly mounted on the drive shaft 4, a rotating mechanism 6 on one side of the first gear 5, a hydraulic rod 7 mounted on the turntable 3, a detection arm 8 mounted at the top of the hydraulic rod 7, an electromagnetic wave transmitting module 9 mounted at one end of the detection arm 8, the electromagnetic wave transmitting module 9 including an electromagnetic wave transmitting body 901 and a broadband transmitting antenna 902, an electric telescopic rod 10 mounted at the bottom of the electromagnetic wave transmitting body 901, a working plate 11 connected to the other end of the electric telescopic rod 10, a plurality of receiving sensors 12 mounted on the working plate 11, the plurality of receiving sensors 12 arranged in an array, a dustproof component 13 above the receiving sensors 12, a fixing block 14 mounted at the upper end of the hydraulic rod 7, and an auxiliary mechanism 15 mounted on the fixing block 14.

[0024] Specifically, in practical applications, a collaborative underground anomaly detection system is constructed through the electromagnetic wave transmitting module 9, the receiving sensor 12, and the data preprocessor 19. Relying on the precise functional connection and data interaction among the three components, a higher precision analysis of underground anomalies is achieved, effectively solving problems such as large signal interference, fuzzy data interpretation, and anomaly location deviation in traditional detection technologies. Furthermore, the auxiliary mechanism 15 lowers the center of gravity of the equipment. When the detection arm 8 is raised, the shaft 1505 will open outward, providing stability for the entire equipment. Finally, the dustproof component 13 effectively prevents dust from covering the receiving sensor 12, thus preventing a decrease in sensitivity.

[0025] Reference Figure 3 and Figure 5 The rotating mechanism 6 includes a second gear 601 and a third gear 602. The second gear 601 and the third gear 602 are located on one side of the first gear 5. The first gear 5, the second gear 601 and the third gear 602 are linearly arranged and meshed. The rotating mechanism 6 also includes a rotating rod 603 mounted on the third gear 602. The rotating rod 603 is located below the receiving sensor 12.

[0026] Specifically, the rotating mechanism 6, when the drive motor 17 drives the detection arm 8 to rotate, the working plate 11 and the receiving sensor 12 set in the working plate 11 rotate together. At the same time, the protective screen 16 is made to rotate with the working plate 11 through the rotating mechanism 6, thereby effectively protecting the receiving sensor 12 and preventing the receiving sensor 12 from being damaged by collision during operation.

[0027] Reference Figure 3 and Figure 8 The dustproof component 13 includes two sets of dustproof nets 1301 installed between the working plates 11. Each set of dustproof nets 1301 has two nets and is distributed vertically. Multiple rings 1302 are installed between the two dustproof nets 1301. Multiple balls 1303 are provided in each ring 1302. The balls 1303 are used to clean the dustproof nets 1301.

[0028] Specifically, the dustproof net 1301 effectively prevents dust from covering the receiving sensor 12, thus avoiding the problem of low sensitivity caused by dust covering the receiving sensor 12. At the same time, the sphere 1303 is elastic and will bounce between the dustproof net 1301 when the wind blows, thereby cleaning the dust off the surface of the dustproof net 1301 and realizing automatic cleaning.

[0029] Reference Figure 2The auxiliary mechanism 15 includes a first rack 1501 mounted on a fixed block 14. The tooth surface of the first rack 1501 is meshed with a drive gear 1502. The tooth surface of the drive gear 1502 is meshed with a second rack 1503. A connecting block 1504 is mounted on the side wall of the second rack 1503. Shafts 1505 are symmetrically mounted at both ends of the connecting block 1504. The ends of the shafts 1505 are axially connected to the connecting block 1504. A connecting plate 1506 is mounted at the lower end of the shafts 1505. An auxiliary wheel 1507 is mounted at the bottom of the connecting plate 1506. Placement slots are opened on both sides of the middle of the movable base plate 1. The placement slots are used to hold the connecting plate 1506 and the auxiliary wheel 1507.

[0030] Specifically, through the auxiliary mechanism 15, when the hydraulic rod 7 drives the detection arm 8 to rise, the first rack 1501 rises, and the second rack 1503 descends through the drive gear 1502, which in turn drives the connecting block 1504 to descend, thereby causing the auxiliary wheel 1507 to expand outward, thus lowering the center of gravity of the equipment. When the hydraulic rod 7 drives the detection arm 8 to descend, the auxiliary wheel 1507 retracts inward. Through the transmission method, the center of gravity of the equipment is effectively lowered, preventing it from tipping over during operation.

[0031] Reference Figure 1 and Figure 7 A protective screen 16 is installed at the end of the rotating rod 603. The protective screen 16 is curved and is used to protect the receiving sensor 12. When the receiving sensor 12 descends to its lowest height, there is a gap between the rotating rod 603 and the working plate 11.

[0032] Specifically, the protective screen 16 effectively prevents the working board 11 from colliding, thereby protecting the receiving sensor 12 and preventing it from being damaged by collision.

[0033] Reference Figure 2 A drive motor 17 is embedded in the middle of the movable base plate 1. The output end of the drive motor 17 is connected to the end of the transmission shaft 4. An industrial computer 18 is installed on the movable base plate 1.

[0034] Specifically, the drive motor 17 can simultaneously drive the detection arm 8 and the protective screen 16 to rotate, reducing the number of drive parts and saving costs.

[0035] Reference Figure 5 and Figure 6 A data preprocessor 19 is installed on the movable base plate 1. The data preprocessor 19 is connected to the receiving sensor 12 via a shielded cable. A protective shell 20 is installed on the movable base plate 1. The protective shell 20 is used to protect the second gear 601 and the third gear 602.

[0036] Specifically, the protective shell 20 effectively protects the parts and extends their service life.

[0037] Reference Figure 7 When the hydraulic rod 7 descends to its lowest point, the connecting plate 1506 and the auxiliary wheel 1507 are located in the placement groove. The support plate 2 is equipped with a work box 21, and the first rack 1501, the drive gear 1502 and the second rack 1503 are placed in the work box 21. The protective screen 16 rotates synchronously with the work plate 11.

[0038] Specifically, the internal parts are effectively protected by the set work box 21.

[0039] Reference Figure 4 and Figure 6 S1: The mobile platform travels along the preset path, and the detection arm 8 descends to a height of 30cm above the road surface; S2: The electromagnetic wave emission module 9 emits sweeping electromagnetic waves in a directional manner, which penetrate the road surface and generate reflected waves when they encounter cavities or loose media; S3: The receiving sensor 12 synchronously captures the reflected signals, and after the data preprocessor 19 filters out environmental noise, the signals are transmitted to the AI ​​module; S4: The AI ​​module compares the feature library through a convolutional neural network and outputs the location, depth, and risk level of the cavity.

[0040] Specifically, in practical applications, the system loads a preset driving path based on the actual working conditions of the road to be detected. The movable base plate 1 travels at a constant speed along the planned path. When the movable base plate 1 reaches the detection area, the detection arm 8 activates the lifting mechanism according to the preset program, accurately descending to a fixed detection height of 30cm above the road surface. This height has been verified through multiple experiments, ensuring that it avoids collision damage to the detection arm caused by road bumps or debris, and also ensures that the subsequent electromagnetic wave transmitting module 9 maintains the optimal distance from the road surface, reducing signal attenuation during air propagation and laying the foundation for stable signal transmission and reception. Once the detection arm 8 reaches the preset height, the electromagnetic wave transmitting module 9 integrated at the end of the detection arm 8 immediately enters the working state. This module automatically loads the corresponding sweep frequency parameters according to the requirements of the detection scenario, directionally transmitting broadband sweep frequency electromagnetic waves below the road surface. After the transmitted electromagnetic waves penetrate the road surface structure layer, when they encounter the interface of different underground media during propagation, characteristic reflection waves are generated due to the difference in dielectric constant of the media. The electromagnetic waves that are not reflected continue to propagate deeper, ensuring detection at different burial depths. All anomalous areas can be effectively detected. At the same time, the receiving sensor 12, which is arranged in conjunction with the electromagnetic wave transmitting module 9, enters the signal acquisition state in real time and accurately receives the electromagnetic wave signals reflected from underground. Due to the interference factors such as road vehicle vibration and surrounding electromagnetic radiation in the outdoor detection environment, the original signal captured by the receiving sensor 12 will be mixed with a lot of environmental noise. At this time, the data preprocessor 19, which is directly connected to the receiving sensor, immediately starts a multi-stage noise reduction process: first, high-frequency electromagnetic interference and low-frequency vibration noise are filtered out by filtering algorithm, then the signal gain is calibrated and waveform is repaired to eliminate the distortion problem in the signal transmission process, and finally a clean and complete effective reflection signal is output. This signal is transmitted to the AI ​​analysis module on the system in real time through the data interface. Finally, after receiving the preprocessed reflection signal data, the AI ​​module calls the built-in convolutional neural network model for intelligent analysis. This model has been trained and optimized through massive underground anomaly samples and can automatically extract key feature parameters in the reflection signal and perform multi-dimensional comparison and matching with the preset underground anomaly feature library. By calculating the relationship between the propagation speed of electromagnetic waves and the time delay of reflected waves, the AI ​​module can accurately estimate the burial depth of the abnormal area; combined with the coverage and amplitude distribution of reflected waves, it can determine the planar location and size of the abnormal area; at the same time, based on the feature matching degree and abnormal parameters, it can automatically classify the risk level according to the risk assessment standards, and finally output the specific location coordinates, burial depth data, size parameters and risk level of the underground cavity in the form of a visual report, providing accurate and feasible technical basis for subsequent hidden danger investigation and remediation plan formulation.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A detection device for potential road cavities and underground subsidence hazards, comprising a movable base plate (1), characterized in that: A support plate (2) is installed on the movable base plate (1). A turntable (3) is movably installed in the middle of the support plate (2). The turntable (3) rotates within the support plate (2). A drive shaft (4) is installed at the bottom of the turntable (3). A first gear (5) is fixedly installed on the drive shaft (4). A rotating mechanism (6) is provided on one side of the first gear (5). A hydraulic rod (7) is installed on the turntable (3). A detection arm (8) is installed at the top of the hydraulic rod (7). An electromagnetic wave emitting module (9) is installed at one end of the detection arm (8). 9) Includes an electromagnetic wave transmitting body (901) and a broadband transmitting antenna (902). An electric telescopic rod (10) is installed at the bottom of the electromagnetic wave transmitting body (901). A working plate (11) is connected to the other end of the electric telescopic rod (10). Multiple receiving sensors (12) are installed on the working plate (11). The multiple receiving sensors (12) are arranged in an array. A dustproof component (13) is provided above the receiving sensors (12). A fixing block (14) is installed at the upper end of the hydraulic rod (7). An auxiliary mechanism (15) is provided on the fixing block (14).

2. The detection device for road cavities and underground disease collapse hazards according to claim 1, characterized in that: The rotating mechanism (6) includes a second gear (601) and a third gear (602). The second gear (601) and the third gear (602) are located on one side of the first gear (5). The first gear (5), the second gear (601), and the third gear (602) are linearly arranged and mesh with each other. The rotating mechanism (6) also includes a rotating rod (603) mounted on the third gear (602). The rotating rod (603) is located below the receiving sensor (12).

3. The detection device for road cavities and underground disease collapse hazards according to claim 1, characterized in that: The dustproof component (13) includes two sets of dustproof nets (1301) installed between the working plate (11). Each set of dustproof nets (1301) has two nets and is distributed vertically. Multiple rings (1302) are installed between the two dustproof nets (1301). Each ring (1302) contains multiple spheres (1303), which are used to clean the dustproof nets (1301).

4. The detection device for road cavities and underground disease collapse hazards according to claim 1, characterized in that: The auxiliary mechanism (15) includes a first rack (1501) mounted on a fixed block (14), the tooth surface of the first rack (1501) is meshed with a drive gear (1502), the tooth surface of the drive gear (1502) is meshed with a second rack (1503), a connecting block (1504) is mounted on the side wall of the second rack (1503), a shaft (1505) is symmetrically mounted at both ends of the connecting block (1504), the end of the shaft (1505) is axially connected to the connecting block (1504), a connecting plate (1506) is mounted at the lower end of the shaft (1505), an auxiliary wheel (1507) is mounted at the bottom of the connecting plate (1506), and a placement groove is provided on both sides of the middle part of the movable base plate (1), the placement groove is used to hold the connecting plate (1506) and the auxiliary wheel (1507).

5. The detection device for road cavities and underground disease collapse hazards according to claim 2, characterized in that: A protective screen (16) is installed at the end of the rotating rod (603). The protective screen (16) is curved and is used to protect the receiving sensor (12). When the receiving sensor (12) is lowered to its lowest height, there is a gap between the rotating rod (603) and the working plate (11).

6. The detection device for road cavities and underground disease collapse hazards according to claim 1, characterized in that: A drive motor (17) is embedded in the middle of the movable base plate (1), the output end of the drive motor (17) is connected to the end of the transmission shaft (4), and an industrial computer (18) is installed on the movable base plate (1).

7. The detection device for road cavities and underground disease collapse hazards according to claim 6, characterized in that: A data preprocessor (19) is installed on the movable base plate (1). The data preprocessor (19) is connected to the receiving sensor (12) via a shielded cable. A protective shell (20) is installed on the movable base plate (1). The protective shell (20) is used to protect the second gear (601) and the third gear (602).

8. The detection device for road cavities and underground disease collapse hazards according to claim 1, characterized in that: When the hydraulic rod (7) descends to its lowest point, the connecting plate (1506) and the auxiliary wheel (1507) are located in the placement groove. The support plate (2) is equipped with a work box (21), and the first rack (1501), the drive gear (1502) and the second rack (1503) are placed in the work box (21).

9. The detection device for road cavities and underground disease collapse hazards according to claim 5, characterized in that: The protective screen (16) rotates synchronously with the working plate (11).

10. A method for detecting potential hazards of road cavities and underground subsidence, and a device for detecting potential hazards of road cavities and underground subsidence according to any one of claims 1-9, characterized in that, Includes the following steps: S1: The mobile platform travels along the preset path, and the detection arm (8) descends to a height of 30cm above the road surface; S2: Electromagnetic wave transmitting module (9) directionally transmits frequency-sweeping electromagnetic waves, which are reflected after penetrating the road surface and encountering cavities or loose media. S3: The receiving sensor (12) synchronously captures the reflected signal, and after the environmental noise is filtered out by the data preprocessor (19), it is transmitted to the AI ​​module; S4: The AI ​​module compares the feature library using a convolutional neural network and outputs the location, depth, and risk level of holes.

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