An AI-based three-dimensional ground penetrating radar underground cavity void identification device

Abstract

The application relates to the technical field of underground cavity detection, and discloses a three-dimensional ground penetrating radar underground cavity disengaging recognition device and method based on AI, which comprises a recognition machine arranged at the top of a three-dimensional ground penetrating radar, and a fixing frame is arranged at the bottom of the recognition machine; the device further comprises a moving assembly which is used for recognizing the recognition machine; the three-dimensional ground penetrating radar underground cavity disengaging recognition device based on AI is provided with the moving assembly; a micro motor drives a cam to rotate; an active rod and a connecting block are pushed to make reciprocating linear motion; a sliding plate is driven to reciprocatingly slide along a sliding groove of a fixed plate. The groove and the sliding groove are matched to improve the sliding stability; the sliding plate drives a moving plate to scrape off obstacles through elastic sheets; the radar signal is prevented from being interfered; the rigid collision damage of components is prevented; the service life is prolonged; and the recognition accuracy and continuity are ensured.

Description

Technical Field

[0001] This invention relates to the field of underground cavity detection technology, specifically to an AI-based three-dimensional ground-penetrating radar underground cavity identification device. Background Technology

[0002] Underground cavities separating from the road surface are common hidden engineering defects in roads, municipal pipelines, and rail transit systems. They can easily lead to road collapses, structural instability, and other safety accidents, posing a serious threat to the operation of public facilities and the safety of personnel. 3D ground-penetrating radar (GPR), with its advantages of being trenchless, highly efficient, and providing intuitive imaging, has become the mainstream technology for detecting underground cavities. Combined with AI intelligent recognition algorithms, it can achieve automatic analysis and precise location of defect data, significantly improving detection efficiency and judgment accuracy.

[0003] However, existing AI-based 3D ground-penetrating radar identification equipment has obvious defects in actual use: obstacles such as stones, sand, and clumps of soil on the detection path can easily block the radar detection area, interfere with signal transmission, and cause the AI ​​recognition results to be distorted; the equipment lacks an adaptive cleaning and buffer protection structure, and long-term operation is prone to rigid collision wear of components, and the cleaning mechanism cannot be stored, making it easy to be bumped and damaged during transportation and non-operation. The overall stability, service life and detection continuity are difficult to meet the requirements of complex working conditions. Summary of the Invention

[0004] Technical problems to be solved To address the shortcomings of existing technologies, this invention provides an AI-based three-dimensional ground-penetrating radar underground cavity identification device, which solves the problems of existing identification equipment being easily blocked and interfered with by ground obstacles during the detection process, the AI ​​identification results being easily distorted, components being prone to rigid collision and wear, the cleaning mechanism being inconvenient to store and transport, and the overall stability and service life being insufficient. Technical solution

[0005] To achieve the above objectives, the present invention provides the following technical solution: An AI-based 3D ground-penetrating radar underground cavity identification device includes an identification machine mounted on top of the 3D ground-penetrating radar, with a fixed frame installed at the bottom of the identification machine; it also includes a moving component for scraping away obstacles on the ground during identification; a rotating component for rotating, breaking up, and sweeping away stubborn impurities and clumps of soil on the ground; and a swinging component for detaching the moving component from the ground and storing it when not in operation. The moving component includes: a connecting frame hinged to the outer wall of the fixed frame; a micro motor mounted on the inner side of the connecting frame; a cam mounted on the output shaft surface of the micro motor; a movable rod hinged to the middle end of the cam; a connecting block hinged to the bottom of the movable rod; a sliding plate mounted at the bottom of the connecting block; a fixed plate mounted on the inner wall of the connecting frame; a sliding plate slidably connected to the top of the fixed plate; a spring plate mounted on the top of the sliding plate; and a moving plate mounted at the bottom of the spring plate, the moving plate penetrating the bottom of the connecting frame.

[0006] Preferably, the surface of the skateboard has a groove, and the surface of the fixing plate has a groove.

[0007] Preferably, the moving components are provided in two sets, and both sets of the moving components are symmetrically arranged with the center line of the recognition machine as the axis of symmetry.

[0008] Preferably, the rotating assembly includes: a connecting plate, the connecting plate being mounted on the outer wall of the connecting frame, a movable column being rotatably connected to the inner side of the connecting plate, and a movable wheel being mounted on the outer side of the movable column, the movable wheel being rotatably connected to the outer wall of the connecting plate.

[0009] Preferably, the surface of the movable column is equipped with multiple sets of fixed wheels, and the surface of the fixed wheels is equipped with crushing blocks.

[0010] Preferably, the swing assembly includes: a fixing bar, which is installed on the outer wall of the fixing frame, a drive motor is installed on the outer side of the fixing bar, and a threaded rod is installed on the output shaft surface of the drive motor, the threaded rod being rotatably connected to the inner side of the fixing bar.

[0011] Preferably, the threaded rod surface is threaded with a sliding block, the sliding block is slidably connected to the inner side of the fixing bar, and the sliding block surface is hinged with a long rod, the long rod being hinged to the top of the connecting frame.

[0012] Preferably, the swing assembly is provided in two sets, and both sets of the swing assembly are symmetrically arranged with the center line of the recognition machine as the axis of symmetry.

[0013] Preferably, the top of the fixing strip has a strip-shaped groove, and the cross-section of the sliding block is L-shaped.

[0014] A method for identifying underground cavities using AI-based 3D ground-penetrating radar also includes the following steps: Step 1: Preparation for lowering the work: Start the swing assembly, drive the motor to drive the threaded rod to rotate steadily, so that the sliding block moves in a direction along the strip groove on the inner side of the fixed bar. The sliding block pushes the long rod to move, which in turn drives the connecting frame to swing down smoothly around the fixed frame, accurately lowering the moving assembly and the rotating assembly to the working height. The two sets of symmetrically arranged swing assemblies ensure stable lowering posture and uniform force. Step 2: The micro motor drives the cam to rotate continuously, causing the movable rod and connecting block to reciprocate linearly. This pushes the slide plate to slide back and forth along the groove on the fixed plate. The slide plate, through the spring sheet, drives the moving plate to scrape back and forth synchronously, clearing loose obstacles on the path of the 3D ground-penetrating radar. When the device moves, the movable wheel rolls in contact with the ground, driving the movable column to rotate within the connecting plate. This causes the fixed wheel and the crushing block to rotate at high speed, cutting and crushing clumps of soil and hard impurities. This, combined with the moving components, achieves comprehensive cleaning. Step 3: The 3D ground-penetrating radar continuously collects underground electromagnetic reflection signals and transmits them to the identification machine. The identification machine uses built-in AI algorithms to reduce noise, extract features, and intelligently identify the signals, accurately identifying the location, range, and depth of underground cavities and voided areas, and completing 3D imaging. Step 4: Reverse the drive motor to move the sliding block back, and use the long rod to pull the connecting frame upward, lifting the moving and rotating components off the ground to complete the storage and stop the operation.

[0015] Beneficial effects Compared with existing technologies, this invention provides an AI-based three-dimensional ground-penetrating radar underground cavity identification device, which has the following beneficial effects: 1. This AI-based 3D ground-penetrating radar underground cavity identification device utilizes a movable component. A micro-motor drives a cam to rotate, pushing a movable rod and connecting block in reciprocating linear motion. This causes a sliding plate to slide back and forth along a groove on a fixed plate. The groove and track work together to improve sliding stability. The sliding plate, driven by a spring, scrapes away obstacles, preventing interference with radar signals, preventing rigid collision damage to components, extending service life, and ensuring accurate and continuous identification.

[0016] 2. This AI-based 3D ground-penetrating radar underground cavity identification device utilizes a rotating component. As the device moves, the movable wheels roll, driving the movable column to rotate within the connecting plate. This, in turn, causes the fixed wheels and the breaking block to rotate at high speed, cutting and breaking up clumps of soil and hard impurities. This structure, in conjunction with the moving component, forms a cleaning process of first breaking down and then scraping away debris, cleaning the detection working surface, avoiding interference with radar signals, ensuring stable 3D ground-penetrating radar data, and improving AI identification accuracy and imaging quality.

[0017] 3. This AI-based 3D ground-penetrating radar underground cavity identification device utilizes a swing assembly. A drive motor rotates a threaded rod, causing a sliding block to translate along the inner side of a fixed strip. This pushes a long rod, causing the connecting frame to swing downwards around the fixed frame, lowering the moving and rotating components to the working height. The strip groove guides the sliding block, preventing offset, jamming, and wobbling, thus improving motion accuracy. Two symmetrically arranged swing assemblies ensure even force distribution and stable posture during lowering, preventing tilting and improving the safety, stability, and cleaning efficiency of the device. Attached Figure Description

[0018] Figure 1 This is a front view structural diagram of an AI-based three-dimensional ground-penetrating radar underground cavity identification device proposed in this invention. Figure 2 This is a top view of the structure of a three-dimensional ground-penetrating radar underground cavity identification device based on AI proposed in this invention. Figure 3 This is a front view schematic diagram of the connecting frame of a three-dimensional ground-penetrating radar underground cavity identification device based on AI proposed in this invention. Figure 4 This is a top view of the moving component of a three-dimensional ground-penetrating radar underground cavity identification device based on AI proposed in this invention. Figure 5 This is a front view schematic diagram of the rotating component of a three-dimensional ground-penetrating radar underground cavity identification device based on AI proposed in this invention. Figure 6 This is a front view schematic diagram of the swing component of an AI-based three-dimensional ground-penetrating radar underground cavity detachment identification device proposed in this invention.

[0019] In the diagram: 1. 3D ground-penetrating radar; 2. Identifier; 3. Fixed frame; 4. Moving component; 5. Rotating component; 6. Swinging component; 41. Connecting frame; 42. Micro motor; 43. Cam; 44. Movable rod; 45. Connecting block; 46. Slide plate; 47. Fixed plate; 48. Spring; 49. Moving plate; 460. Groove; 470. Slide; 51. Connecting plate; 52. Movable column; 53. Movable wheel; 54. Fixed wheel; 55. Breaking block; 61. Fixed strip; 62. Drive motor; 63. Threaded rod; 64. Sliding block; 65. Long rod; 610. Strip groove. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figure 1 - Figure 6 As shown, an AI-based three-dimensional ground-penetrating radar underground cavity identification device includes an identification machine 2 installed on top of the three-dimensional ground-penetrating radar 1, and a fixing frame 3 installed at the bottom of the identification machine 2. It also includes a moving component 4, used to scrape away obstacles on the ground when the identification machine 2 is performing identification; Rotating component 5 is used to rotate, break up, and clean stubborn impurities and clumps of soil on the ground. The swing component 6 is used to move component 4 off the ground and retract it when it is not in operation. First, the moving component 4 includes: a connecting frame 41, which is hinged to the outer wall of the fixed frame 3. A micro motor 42 is installed on the inner side of the connecting frame 41. A cam 43 is installed on the output shaft surface of the micro motor 42. A movable rod 44 is hinged to the middle end of the cam 43. A connecting block 45 is hinged to the bottom of the movable rod 44. A sliding plate 46 is installed at the bottom of the connecting block 45. A fixed plate 47 is installed on the inner wall of the connecting frame 41. The sliding plate 46 is slidably connected to the top of the fixed plate 47. A spring plate 48 is installed on the top of the sliding plate 46. A moving plate 49 is installed at the bottom of the spring plate 48. The moving plate 49 passes through the bottom of the connecting frame 41. The micro motor 42, cam 43, movable rod 44, and connecting block 45 form a transmission structure to realize the reciprocating motion of the sliding plate 46 and the moving plate 49. The spring plate 48 provides elastic buffering to complete the removal of ground obstacles, avoid rigid impact, and ensure stable operation.

[0022] Secondly, the surface of the skateboard 46 is provided with a groove 460, and the surface of the fixed plate 47 is provided with a groove 470. The groove 460 and the groove 470 guide and limit each other, so as to realize the directional and smooth sliding of the skateboard 46, prevent deviation and jamming, and improve the smoothness and accuracy of the movement.

[0023] Furthermore, there are two sets of moving components 4, and both sets of moving components 4 are symmetrically arranged with the center line of the identification machine 2 as the axis of symmetry. Through the two sets of symmetrically arranged moving components 4, balanced force and comprehensive cleaning are achieved with the identification machine 2 as the center, thereby improving the cleaning effect and the stability of the device operation.

[0024] Furthermore, the rotating component 5 includes: a connecting plate 51, which is mounted on the outer wall of the connecting frame 41. A movable column 52 is rotatably connected to the inner side of the connecting plate 51, and a movable wheel 53 is mounted on the outer side of the movable column 52. The movable wheel 53 is rotatably connected to the outer wall of the connecting plate 51. By rolling in contact with the ground, the movable column 52 is driven to rotate within the connecting plate 51, achieving a drive without additional power, simplifying the structure and reducing energy consumption.

[0025] Furthermore, multiple sets of fixed wheels 54 are installed on the surface of the movable column 52, and crushing blocks 55 are installed on the surface of the fixed wheels 54. The movable column 52 drives the fixed wheels 54 and the crushing blocks 55 to rotate at high speed, thereby cutting and crushing clumps of soil and hard impurities, and improving the cleaning effect.

[0026] Furthermore, the swing assembly 6 includes: a fixing bar 61, which is installed on the outer wall of the fixing frame 3. A drive motor 62 is installed on the outer side of the fixing bar 61. A threaded rod 63 is installed on the output shaft surface of the drive motor 62. The threaded rod 63 is rotatably connected to the inner side of the fixing bar 61. The drive motor 62 drives the threaded rod 63 to rotate, providing stable power for swing storage and achieving precise and controllable movement.

[0027] Furthermore, a sliding block 64 is threadedly connected to the surface of the threaded rod 63. The sliding block 64 is slidably connected to the inner side of the fixed strip 61. A long rod 65 is hinged to the surface of the sliding block 64. The long rod 65 is hinged to the top of the connecting frame 41. The sliding block 64 is driven to translate by the threaded rod 63, and the connecting frame 41 is driven to swing by the long rod 65, so as to realize the extension and retraction of the moving component 4 and the rotating component 5.

[0028] Furthermore, the swing assembly 6 is provided in two sets, and both sets of swing assemblies 6 are symmetrically arranged with the center line of the identification machine 2 as the axis of symmetry. Through the two sets of symmetrically arranged swing assemblies 6, the connecting frame 41 is subjected to uniform force and the lifting and lowering are stable, preventing tilting and shaking, and improving the safety and reliability of the device.

[0029] Finally, a strip groove 610 is provided at the top of the fixing strip 61, and the cross-section of the sliding block 64 is L-shaped. The strip groove 610 guides and limits the L-shaped sliding block 64 to prevent the sliding block 64 from shifting or getting stuck, thereby improving transmission stability and motion accuracy.

[0030] A method for identifying underground cavities using AI-based 3D ground-penetrating radar also includes the following steps: Step 1: Preparation for lowering the work: Start the swing assembly 6, drive the motor 62 to drive the threaded rod 63 to rotate stably, so that the sliding block 64 moves in a direction along the strip groove 610 inside the fixed bar 61. The sliding block 64 pushes the long rod 65 to move, which in turn drives the connecting frame 41 to swing down smoothly around the fixed frame 3, so as to accurately lower the moving assembly 4 and the rotating assembly 5 to the working height. The two sets of symmetrically arranged swing assemblies 6 ensure that the lowering posture is stable and the force is even. Step 2: The micro motor 42 drives the cam 43 to rotate continuously, which in turn drives the movable rod 44 and the connecting block 45 to reciprocate linear motion, pushing the slide plate 46 to slide back and forth along the slide groove 470 on the fixed plate 47. The slide plate 46 drives the moving plate 49 to reciprocate and scrape synchronously through the spring piece 48, clearing loose obstacles on the detection path of the three-dimensional ground penetrating radar 1. When the device moves, the movable wheel 53 rolls in contact with the ground, driving the movable column 52 to rotate in the connecting plate 51, which drives the fixed wheel 54 and the crushing block 55 to rotate at high speed, cutting and crushing the clumps of soil and hard impurities, and working with the moving component 4 to achieve comprehensive cleaning. Step 3: The 3D ground-penetrating radar 1 continuously collects underground electromagnetic reflection signals and transmits them to the identification machine 2. The identification machine 2 uses built-in AI algorithms to reduce noise, extract features and intelligently identify the signals, accurately identifying the location, range and depth of underground cavities and voided areas, and completing 3D imaging. Step 4: Drive motor 62 reverses, causing sliding block 64 to move back, and pull connecting frame 41 upward through long rod 65, lifting moving component 4 and rotating component 5 off the ground, completing storage and stopping operation.

[0031] In operation, the 3D ground-penetrating radar 1 emits and receives underground electromagnetic wave signals, while the identification unit 2, equipped with an AI algorithm, analyzes the echo data in real time to intelligently identify cavities and voided areas and perform 3D imaging. To ensure detection accuracy and smooth passage, the device uses a moving component 4, a rotating component 5, and a swinging component 6 to collaboratively complete road surface clearing, breaking, and storage actions.

[0032] When the swing assembly 6 is activated, the drive motor 62 drives the threaded rod 63 to rotate stably, causing the sliding block 64 to move directionally along the inner side of the fixed bar 61. The sliding block 64 pushes the long rod 65 to move synchronously, thereby driving the connecting frame 41 to swing smoothly down around the fixed frame 3, accurately lowering the moving assembly 4 and the rotating assembly 5 to the working height. The strip groove 610 opened at the top of the fixed bar 61 provides stable guidance for the sliding block 64, effectively preventing the sliding block 64 from deviating, jamming, and shaking, improving the overall motion accuracy and reliability. The two sets of swing assemblies 6, symmetrically arranged around the center line of the identification machine 2, can ensure uniform force and stable posture during the lowering process, avoiding unilateral force tilting, and significantly improving the safety, stability, and cleaning efficiency of the device during operation.

[0033] Secondly, the micro motor 42 operates, driving the cam 43 to rotate continuously. During rotation, the cam 43 pushes the movable rod 44 to oscillate periodically. The movable rod 44 then transmits power to the connecting block 45, causing the connecting block 45 to form a stable reciprocating linear motion. The connecting block 45 then pushes the slide plate 46 to slide back and forth along the groove 470 opened on the fixed plate 47. The groove 470 limits and guides the slide plate 46. The groove 460 on the top of the slide plate 46 cooperates with the groove 470 to further improve the smoothness of the slide. When the slide plate 46 moves, the spring plate 48 on the top drives the moving plate 49 to perform a reciprocating scraping action. The moving plate 49 passes through the bottom of the connecting frame 41 and contacts the ground, continuously and efficiently scraping away loose obstacles such as stones, sand, and weeds on the detection path of the three-dimensional ground penetrating radar 1, avoiding debris from obscuring the detection area or interfering with the radar signal, and ensuring the accuracy and continuity of the identification machine 2 in identifying underground cavities. The spring plate 48 provides elastic cushioning during the scraping process. When it encounters ground protrusions or hard foreign objects, it can generate adaptive deformation to effectively absorb impact energy and prevent components such as the moving plate 49, sliding plate 46, and connecting frame 41 from wearing, deforming, or breaking due to rigid collisions, thus significantly improving the service life and operational reliability of the mechanism.

[0034] As the device moves, the movable wheel 53 is in close contact with the ground and passively rolls as the equipment moves forward, thereby driving the movable column 52 to rotate stably under the limiting support of the connecting plate 51. The movable column 52 simultaneously drives multiple sets of fixed wheels 54 and the crushing block 55 to rotate at high speed. The crushing block 55 uses continuous cutting and impact to powerfully crush and loosen obstacles on the ground such as clumps of soil, hardened slag, and hard impurities that are difficult to scrape off directly, breaking down large debris into fine particles and effectively reducing cleaning resistance. This rotating crushing action and the reciprocating scraping action of the moving component 4 work together to form a highly efficient cleaning process of crushing first and then scraping, which can comprehensively and thoroughly clean the detection working surface in front of the 3D ground penetrating radar 1, avoiding the interference and attenuation of radar detection signals caused by debris accumulation and uneven ground, thereby ensuring the stable transmission and reception of the 3D ground penetrating radar 1 signal, and ensuring that the AI ​​recognition system on the recognition machine 2 can obtain clear and reliable underground data, improving the detection accuracy and imaging quality of underground cavities and void areas.

[0035] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. An AI-based three-dimensional ground-penetrating radar underground cavity identification device, comprising an identification machine (2) mounted on top of a three-dimensional ground-penetrating radar (1), characterized in that: The identification machine (2) is equipped with a fixing frame (3) at its bottom; It also includes a moving component (4) for scraping away obstacles on the ground when the identification machine (2) is performing identification; Rotating component (5) is used to rotate, break up and clean stubborn impurities and clumps of soil on the ground. The swing component (6) is used to move the component (4) off the ground and complete the storage when it is not in operation; The moving component (4) includes: a connecting frame (41), which is hinged to the outer wall of the fixed frame (3). A micro motor (42) is installed on the inner side of the connecting frame (41). A cam (43) is installed on the output shaft surface of the micro motor (42). A movable rod (44) is hinged to the middle end of the cam (43). A connecting block (45) is hinged to the bottom of the movable rod (44). A sliding plate (46) is installed at the bottom of the connecting block (45). A fixed plate (47) is installed on the inner wall of the connecting frame (41). The sliding plate (46) is slidably connected to the top of the fixed plate (47). A spring piece (48) is installed on the top of the sliding plate (46). A moving plate (49) is installed at the bottom of the spring piece (48). The moving plate (49) passes through the bottom of the connecting frame (41).

2. The AI-based three-dimensional ground-penetrating radar underground cavity identification device according to claim 1, characterized in that: The surface of the sliding plate (46) is provided with a groove (460), and the surface of the fixing plate (47) is provided with a groove (470).

3. The AI-based three-dimensional ground-penetrating radar underground cavity identification device according to claim 1, characterized in that: The moving component (4) is provided in two sets, and both sets of the moving component (4) are symmetrically arranged with the center line of the recognition machine (2) as the axis of symmetry.

4. The AI-based three-dimensional ground-penetrating radar underground cavity identification device according to claim 1, characterized in that: The rotating assembly (5) includes: a connecting plate (51), which is mounted on the outer wall of the connecting frame (41), and a movable column (52) is rotatably connected to the inner side of the connecting plate (51). A movable wheel (53) is mounted on the outer side of the movable column (52), and the movable wheel (53) is rotatably connected to the outer wall of the connecting plate (51).

5. The AI-based three-dimensional ground-penetrating radar underground cavity identification device according to claim 4, characterized in that: Multiple sets of fixed wheels (54) are installed on the surface of the movable column (52), and the fixed wheels (54) are equipped with breaking blocks (55).

6. The AI-based three-dimensional ground-penetrating radar underground cavity identification device according to claim 1, characterized in that: The swing assembly (6) includes: a fixing bar (61), which is installed on the outer wall of the fixing frame (3), a drive motor (62) is installed on the outer side of the fixing bar (61), and a threaded rod (63) is installed on the output shaft surface of the drive motor (62), which is rotatably connected to the inner side of the fixing bar (61).

7. The AI-based three-dimensional ground-penetrating radar underground cavity identification device according to claim 6, characterized in that: The threaded rod (63) has a sliding block (64) threadedly connected to its surface. The sliding block (64) is slidably connected to the inside of the fixed bar (61). The sliding block (64) has a long rod (65) hinged to its surface. The long rod (65) is hinged to the top of the connecting frame (41).

8. The AI-based three-dimensional ground-penetrating radar underground cavity identification device according to claim 1, characterized in that: The swing component (6) is provided in two sets, and both sets of the swing component (6) are symmetrically arranged with the center line of the recognition machine (2) as the axis of symmetry.

9. The AI-based three-dimensional ground-penetrating radar underground cavity identification device according to claim 7, characterized in that: The top of the fixing strip (61) is provided with a strip groove (610), and the cross-section of the sliding block (64) is L-shaped.

10. A method for identifying underground cavities using AI-based three-dimensional ground-penetrating radar, characterized in that: The AI-based three-dimensional ground-penetrating radar underground cavity identification device according to any one of claims 1-9 further includes the following steps: Step 1: Preparation for lowering the work: Start the swing assembly (6), drive the motor (62) to drive the threaded rod (63) to rotate stably, so that the sliding block (64) moves in a direction along the strip groove (610) inside the fixed bar (61). The sliding block (64) pushes the long rod (65) to move, which in turn drives the connecting frame (41) to swing down smoothly around the fixed frame (3). The moving assembly (4) and the rotating assembly (5) are accurately lowered to the working height. The two sets of symmetrically arranged swing assemblies (6) ensure that the lowering posture is stable and the force is uniform. Step 2: The micro motor (42) drives the cam (43) to rotate continuously, which drives the movable rod (44) and the connecting block (45) to reciprocate linear motion, pushing the slide plate (46) to slide back and forth along the slide groove (470) on the fixed plate (47). The slide plate (46) drives the moving plate (49) to reciprocate and scrape synchronously through the spring piece (48), clearing loose obstacles on the detection path of the three-dimensional ground penetrating radar (1). When the device moves, the movable wheel (53) rolls in contact with the ground, driving the movable column (52) to rotate in the connecting plate (51), driving the fixed wheel (54) and the crushing block (55) to rotate at high speed, cutting and crushing the clumps of soil and hard impurities, and cooperating with the moving component (4) to achieve comprehensive cleaning. Step 3: The three-dimensional ground-penetrating radar (1) continuously collects underground electromagnetic reflection signals and transmits them to the identification machine (2). The identification machine (2) uses built-in AI algorithms to reduce noise, extract features and make intelligent judgments on the signals, accurately identify the location, range and depth of underground cavities and void areas, and complete three-dimensional imaging. Step 4: The drive motor (62) reverses, causing the sliding block (64) to move back, and the connecting frame (41) is pulled up by the long rod (65) to lift the moving component (4) and the rotating component (5) off the ground, completing the storage and stopping the operation.

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