The trick with keeping a slab on grade intact is to not exceed the bearing capacity of the subgrade that the slab is poured on.
If you don not exceed the bearing capacity of the subgrade, you get no deflection of the subgrade, which means no deflection of the concrete, which means no cracking.
Around here, we design to a subgrade bearing capacity of 1000 psf (lbs per square foot). With 4" of concrete and 6" of base rock under that, one square inch of floor area turns into 441 square inches of bearing area on the subgrade.
That means that at 3000 psi (the ultimate compressive strength of the concrete), the subgrade is only seeing ~7 psi (or about ~1000 psf). Meaning that when you are about to exceed the bearing capacity of the subgrade, you are about to crush the concrete.
Now, of course this assumes that you have 100% bearing of the slab on the base rock, which is where it "all falls down" so to speak. If you get voids between the concrete and the base rock, you generate bending moments in the concrete as it tries to bridge the gaps. That bending is what causes most cracked floors. The concrete can only bridge so much of a gap without some reinforcing steel in the right places.
If your contractor compacts the subgrade and base rock as they are supposed to, you won't get settlement after the slab is poured, so you won't have voids. Voids mean you didn't get satisfactory compaction, which means you need to be very careful how you load the slab (unless you happen to have a good bit of steel in the slab by chance). Check for voids (just like you have done) and avoid them at all costs. If you can't avoid them, you need to drill into the void and grout it full before you place the machine.
You'd be amazed what you can place on a 4" floor if your subgrade and base rock are properly prepared.
Ryan Shanks - Logic Industries LLC
http://www.logic-industries.com