Subdivision type exploration mine piezoelectric sensing probe device

Abstract

The invention discloses a subdivision type exploration mine piezoelectric sensing probe device, relates to the technical field of exploration, and solves the problems that an existing probe cannot observe the specific condition of an underground probe in real time, stable displacement under a well is difficult to achieve, and an existing structure is complex and is not beneficial to installation, disassembly and subsequent maintenance. The collection cabin, the power cabin and the control cabin are connected in a buckling mode, the piezoelectric sensing probe is divided into three cabins in a subdivision mode, the piezoelectric sensing probe is controlled through the Fu wheel, the power wheel and the single-chip microcomputer, real-time video recording is achieved through the image collection system, and the videos are transmitted to an upper computer of a computer end to be displayed in real time. The piezoelectric sensing probe can be controlled to advance at a computer end, the functions of synchronous acquisition of received stress and sound receiving signals, waveform recording, data storage, on-site analysis, data remote transmission and the like are displayed on an upper computer, and subsequent installation and maintenance are more convenient by adopting a subdivision type splicing mode.

Description

Technical Field

[0001] The present invention relates to the technical field of exploration, and in particular to a compartment-type piezoelectric sensing probe device for mine exploration. Background Art

[0002] Downhole detection probes, as a key support device for underground image monitoring, play a vital role in mine operations. Before officially commencing underground operations, comprehensive and detailed monitoring of the underground environment is a crucial prerequisite for ensuring smooth operations and personnel safety. This process requires the use of downhole detection probes to capture and analyze the underground geological structure, water level conditions, and potential safety hazards in real time, thereby scientifically assessing whether operational conditions are met.

[0003] Existing probes have certain drawbacks when in use. Most traditional downhole probes cannot observe the specific conditions of the downhole probes in real time, and the operation process is relatively complicated. For example, the patent with application number CN 202321351360.7 discloses a downhole exploration probe, including a detection probe, a counterweight tube and a steel rope; the upper and lower ends of the counterweight tube are closed, and it is filled with or partially filled with fillers. It is composed of multiple sections of sub-tubes; the counterweight tube needs to be manually spliced ​​according to needs. At the same time, the downhole probe is prone to collision with the well wall during the displacement process in the well, making it difficult to achieve stable displacement underground. In addition, the existing structure is complex, which is not conducive to installation and disassembly and subsequent maintenance. Summary of the Invention

[0004] In view of the above-mentioned problems that the existing probes cannot observe the specific conditions of the underground probes in real time, it is difficult to achieve stable displacement underground, and the existing structure is complex, which is not conducive to installation, disassembly and subsequent maintenance, the purpose of the present invention is to provide a compartment-type piezoelectric sensor probe device for mine exploration.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A compartment-type piezoelectric sensing probe device for mine exploration includes: a collection cabin 1, a power cabin 2 and a control cabin 3. The collection cabin 1, the power cabin 2 and the control cabin 3 are connected in sequence from bottom to top. A collection probe 5 and an image acquisition device 6 are provided at the bottom of the collection cabin 1. A plurality of Furley wheels 7 for bidirectional walking are circumferentially provided on the outer wall of the collection cabin 1. At least two power wheels 8 are circumferentially provided on the outer wall of the power cabin 2. A battery 17 and a control chip are provided in the control cabin 3. The control chip is used to control the collection cabin 1 and the power cabin 2, and the battery 17 is used to supply power.

[0007] The above-mentioned compartment-type piezoelectric sensor probe device for mine exploration, wherein the collection cabin 1 also includes: a collection cabin shell, the collection cabin shell is a shell structure with an opening on the top side, a first clamping groove is provided on the outer edge of the top end of the collection cabin shell, and a plurality of first through holes for extending the Furley wheel 7 are provided in the circumference of the collection cabin shell, and a first mounting through hole for installing the collection probe 5 and a second mounting through hole for installing the image acquisition device 6 are provided at the bottom of the collection cabin shell.

[0008] The above-mentioned compartment-type piezoelectric sensor probe device for mine exploration, wherein the collection cabin 1 also includes: a clip 9 and a rotating shaft 10, each first through hole is provided with a clip 9 on the upper and lower sides, multiple clips 9 are connected to the inner wall of the collection cabin shell, multiple rotating shafts 10 are parallel to the axis of the collection cabin shell, the upper end of each rotating shaft 10 is rotatably mounted in a clip 9 located on the upper side through a bearing, and the lower end of each rotating shaft 10 is rotatably mounted in a clip 9 located on the lower side through another bearing.

[0009] The above-mentioned compartment-type piezoelectric sensing probe device for mine exploration, wherein each Furley wheel 7 includes: two wheel hubs 71 and six ball bearings 72, both wheel hubs 71 are provided with an axial hole 73, both wheel hubs 71 are mounted on a rotating shaft 10 through the axial hole 73 and are symmetrically arranged up and down, the upper side surface of the wheel hub 71 located on the upper side is provided with three first fixed shafts along the circumferential direction, the three first fixed shafts are connected in sequence end to end, and each first fixed shaft is provided with a rollable ball bearing 72; the lower side surface of the wheel hub 71 located on the lower side is provided with three second fixed shafts along the circumferential direction, the three second fixed shafts are connected in sequence end to end, and each second fixed shaft is provided with a rollable ball bearing 72.

[0010] The above-mentioned compartment-type piezoelectric sensor probe device for mine exploration, wherein the power compartment 2 also includes: a power compartment shell, the power compartment shell is a shell structure with an opening on the top side, the bottom plate of the power compartment shell is provided with a wiring hole, the top outer edge of the power compartment shell is provided with a second clamping groove, the bottom inner edge of the power compartment shell is provided with a first clamping portion matching the first clamping groove, a plurality of second through holes for extending the power wheel 8 are provided in the circumference of the power compartment shell, and a plurality of baffles 11 are provided inside the power compartment shell, each baffle 11 is a cavity structure with a single-side opening, a power wheel 8 is installed in each cavity structure, and the outer edge of each cavity structure is connected to the edge of a second through hole.

[0011] The above-mentioned compartment-type piezoelectric sensor probe device for exploring mines, wherein the power cabin 2 also includes: a motor 12, and the inner wall of the power cabin shell is also connected to multiple motor seats 13, each motor 12 is installed in a motor seat 13, and each motor 12 is used to drive a power wheel 8 to rotate.

[0012] The above-mentioned compartment-type piezoelectric sensor probe device for mine exploration, wherein the control cabin 3 includes: a control cabin shell, a battery mounting box 16 is provided inside the control cabin shell, the battery 17 is installed in the battery mounting box 16, a plurality of cover mounting holes 15 are provided at the top end of the control cabin shell, and a second clamping portion matching the second clamping groove is provided at the inner edge of the bottom end of the control cabin shell.

[0013] The above-mentioned compartment-type piezoelectric sensor probe device for exploring a mine further includes: a piezoelectric sensor probe cover 4 , which is installed on the top of the control cabin shell through a plurality of cover mounting holes 15 .

[0014] In the above-mentioned compartment-type piezoelectric sensing probe device for mine exploration, the collection compartment shell, the power compartment shell and the control compartment shell are all shell structures equally divided into left and right parts.

[0015] In the above-mentioned compartment-type piezoelectric sensing probe device for mining exploration, the acquisition probe 5 is provided with a sound receiving and stress sensing device.

[0016] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0017] (1) In the present invention, the acquisition cabin, the power cabin and the control cabin are connected by a snap-on connection method. The piezoelectric sensor probe is divided into three cabins by using a compartmentalized method, which not only simplifies the assembly process but also improves the flexibility of the overall structure. At the same time, the compartmentalized splicing method makes subsequent installation and maintenance more convenient. The piezoelectric sensor probe cover is tightly fixed to the control cabin by screws to ensure the stability and durability of the structure. A cable arrangement hole is cleverly opened in the middle of each cabin. This design greatly facilitates the arrangement and management of cables, avoids the problem of disorderly cables, and also provides convenience for subsequent maintenance and upgrades.

[0018] (2) The present invention is easy to operate. It uses four bidirectional Furley wheels and two power wheels and a single-chip microcomputer to control the piezoelectric sensor probe. It uses an image acquisition system to realize real-time video recording and transmits it to the host computer for real-time display. It can control the advancement of the piezoelectric sensor probe on the computer side and display the received stress and sound receiving signals on the host computer. Synchronous acquisition, waveform recording, data storage, on-site analysis and remote data transmission and other functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The present invention is a schematic structural diagram of a compartment-type piezoelectric sensing probe device for mining exploration.

[0020] Figure 2 The present invention is a schematic structural diagram of a collection cabin of a compartment-type piezoelectric sensing probe device for mining exploration.

[0021] Figure 3 The diagram is a top view of a power cabin of a compartment-type piezoelectric sensing probe device for mine exploration according to the present invention.

[0022] Figure 4 The present invention is a schematic structural diagram of a power cabin of a compartment-type piezoelectric sensing probe device for mining exploration.

[0023] Figure 5 The present invention is a schematic structural diagram of a control cabin of a compartment-type piezoelectric sensing probe device for mining exploration.

[0024] Figure 6 The present invention is a schematic diagram of the structure of a compartment-type piezoelectric sensor probe device for mine exploration, in which a battery side is installed in the control compartment.

[0025] Figure 7 The present invention is a schematic structural diagram of the Furley wheel of a compartment-type piezoelectric sensing probe device for mining exploration.

[0026] Figure 8 The present invention is a front view of a collection probe of a compartment-type piezoelectric sensing probe device for exploring a mine.

[0027] Figure 9 The diagram is a top view of a collection probe of a compartment-type piezoelectric sensing probe device for mine exploration according to the present invention.

[0028] Figure 10 The present invention is a schematic diagram of a sound receiving structure of a compartment-type piezoelectric sensor probe device for exploring a mine, in which three sound receivers are perpendicular to each other.

[0029] In the attached figure: 1. Collection cabin; 2. Power cabin; 3. Control cabin; 4. Piezoelectric sensor probe cover; 5. Collection probe; 6. Image acquisition device; 7. Furley wheel; 8. Power wheel; 9. Buckle; 10. Rotating shaft; 11. Baffle; 12. Motor; 13. Motor seat; 14. Wire arrangement hole; 15. Cover mounting hole; 16. Battery mounting box; 17. Battery; 71. Wheel hub; 72. Ball bearing; 73. Axle hole. DETAILED DESCRIPTION

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0031] Please refer to Figure 1 and Figure 10As shown, a compartment-type piezoelectric sensor probe device for mine exploration is shown, which includes: a collection cabin 1, a power cabin 2 and a control cabin 3. The front end of the collection cabin 1 is equipped with a collection probe 5 and an image acquisition device 6. At the same time, there are four bidirectional Furley wheels 7 in the collection cabin 1. The Furley wheels 7 are installed in the middle and rear section of the collection cabin 1, and then the power wheel 8 is located in the power cabin 2, as well as the battery 17 and the control chip located in the control cabin 3. Finally, the piezoelectric sensor probe cover 4 is installed at the rear end of the control cabin 3.

[0032] Furthermore, in a preferred embodiment, the acquisition probe 5 and the image acquisition device 6 are installed on the same plane. The acquisition probe 5 is installed by nesting external screws, and the image acquisition device 6 is connected by threaded fitting. The image acquisition device 6 has its own lighting system, which can better record the underground conditions.

[0033] Furthermore, in a preferred embodiment, the sound receiving and stress sensing device is located inside the acquisition probe 5, wherein the stress sensing device is composed of piezoelectric ceramics and is used to collect stress signals. When external stress (such as pressure, tension or shear force) acts on the piezoelectric ceramics, it can convert this mechanical stress into a measurable electrical signal.

[0034] Furthermore, in a preferred embodiment, the sound receiving part uses piezoelectric ceramics as the sound pickup unit, and the distribution method is that three groups of sound pickup sensors are arranged in the collection probe, and every two groups of sound pickup sensors are arranged perpendicular to each other.

[0035] Furthermore, in a preferred embodiment, four bidirectional Flywheels 7 are arranged circumferentially within the collection chamber 1, located in the middle and rear section. The Flywheels 7 are connected to matching bearings using a snap-fit ​​design. These snap-fits 9 are fixed to the inside of the collection chamber 1, two symmetrically arranged in pairs. These snap-fits mate with the bearings to secure the Flywheels 7. During the downward movement of the piezoelectric sensor probe, the Flywheels 7 not only provide support but also, driven by the power wheel 8, drive the piezoelectric sensor probe downward, effectively acting as a driven wheel.

[0036] Furthermore, in a preferred embodiment, two power wheels 8 are symmetrically mounted in the power compartment 2, and each is equipped with a power wheel baffle 11, which effectively prevents external water and falling rocks from entering the power compartment 2 and damaging components such as the motor 12. Baffle 11 has a 3mm axial hole, which connects the power wheel 8 and the motor 12, thereby driving the entire piezoelectric sensor probe.

[0037] Furthermore, in a preferred embodiment, the motor 12 is installed on the motor base 13 of the power compartment 2, and the motor base 13 is directly connected to the outer shell of the power compartment 2 to form a whole, saving space inside the piezoelectric sensor probe, making the overall volume of the piezoelectric sensor probe smaller, and can adapt to smaller pipes, while also saving materials and reducing costs.

[0038] Furthermore, in a preferred embodiment, the battery 17 and the chips of the control part (such as a single chip microcomputer, a motor drive, etc.) are located in the control cabin 3, and the battery 17 is equipped with a power supply installation box 16.

[0039] Furthermore, in a preferred embodiment, the piezoelectric sensor probe cover 4 is tightly connected to the rear end of the control cabin 3 by screws to ensure the stability and durability of the structure.

[0040] The collection cabin 1, power cabin 2, and control cabin 3 are connected by snap-fit ​​connections, simplifying assembly and enhancing overall structural flexibility. Cable routing holes 14 are cleverly positioned in the center of each cabin section, greatly facilitating cable routing and management, avoiding disorganized cable clutter and facilitating subsequent maintenance and upgrades.

[0041] The above are only preferred embodiments of the present invention and are not intended to limit the implementation and protection scope of the present invention.

[0042] The present invention also has the following implementation modes based on the above:

[0043] In a further embodiment of the present invention, the structure of the Fulai wheel 7 is as follows Figure 7 As shown, by installing four Furley wheels 7 around the collection chamber 1, Figure 2 As shown, when the downhole detection probe moves vertically up and down in the well, the ball 72 rolls against the inner wall, thereby achieving the up and down displacement of the downhole detection probe; when the downhole detection probe rotates around its own axis in the well, the ball 72 sticks to the inner wall and the friction between the ball 72 and the inner wall drives the hub 71 to rotate around the rotating shaft 10, thereby achieving the downhole detection probe rotating around its own axis.

[0044] In a further embodiment of the present invention, the sound receiving and stress sensing device is a packaged piezoelectric ceramic, wherein the sound receiving device is three piezoelectric ceramics arranged perpendicularly to each other, such as Figure 10 As shown, the stress is applied to a single piezoelectric ceramic.

[0045] In a further embodiment of the present invention, the image acquisition device 6 may be a JT / Z-011 endoscope.

[0046] In a further embodiment of the present invention, an STM32 single-chip microcomputer is built into the control part, which drives the power wheel 8 by controlling the forward and reverse rotation of the motor. The main purpose of the control part is to control the power wheel 8 to move forward. The present invention integrates the sound receiving and stress sensing device into the collection probe 5. The sound receiving and stress sensing device is used to collect two signals. The present invention adopts a layered assembly design of the collection cabin 1, the power cabin 2 and the control cabin 3 from bottom to top, and the upper structure is used to assemble and limit the lower structure. The top control cabin 3 is fixed to the piezoelectric sensor probe cover 4 by screws, and the collection probe 5 is fixed to the collection cabin 1 by screws. The collection cabin 1, the power cabin 2 and the control cabin 3 all adopt a shell structure divided equally on the left and right. With this structural design, the collection cabin 1, the power cabin 2 and the control cabin 3 can be quickly assembled and replaced, and the connection stability is good, ensuring that the downhole detection probe will not disintegrate when operating in the well.

[0047] In a further embodiment of the present invention, a first clamping groove is provided on the top outer edge of the collection cabin shell, a second clamping groove is provided on the top outer edge of the power cabin shell, a first clamping portion matching the first clamping groove is provided on the bottom inner edge of the power cabin shell, and a second clamping portion matching the second clamping groove is provided on the bottom inner edge of the control cabin shell. By designing the mutual clamping of the first clamping groove and the first clamping portion and the mutual clamping of the second clamping groove and the second clamping portion, the stability of the connection between the collection cabin 1, the power cabin 2 and the control cabin 3 is ensured, which can realize the rapid assembly and positioning of the collection cabin 1, the power cabin 2 and the control cabin 3, and at the same time improve the connection strength between the collection cabin 1, the power cabin 2 and the control cabin 3.

[0048] In a further embodiment of the present invention, the sound receiving and stress sensing device will start collecting data after detecting the waveform and transmit the collected signal to the computer for storage, and the control part is only responsible for entering the mine.

[0049] In a further embodiment of the present invention, the purpose of the stress sensing device and the sound receiving device is to collect stress signals and sound receiving signals in the mine, and then transmit them to the ground computer through the network cable. The control part does not need to take any action.

[0050] In a further embodiment of the present invention, the overall workflow involves installing a probe into the mine pipe to be sampled. The probe is then guided into the mine using an STM32 microcontroller and a motor driver module. During this process, the power wheel 8 primarily provides forward propulsion, while the Flywheel 7 relies on the force of the power wheel 8 to propel the probe forward. The Flywheel 7's unique mechanical design enables it to move along the pipe wall. Once the sampling probe 5 reaches the designated position, the STM32 main control unit initiates the multimodal data acquisition process, and the image acquisition device 6 begins operation. A high-resolution industrial camera begins capturing real-time video data of the pipe's inner wall. An acoustic emission sensor captures elastic wave signals generated by microscopic fractures in the rock wall, and a distributed stress sensor monitors changes in the stress distribution of the pipe structure. All collected data is transmitted in real time to a surface monitoring center via a network cable. The transmission protocol utilizes industrial-grade Ethernet standards to ensure signal stability and anti-interference capabilities over long distances. The video is processed using an image processing algorithm to detect visible cracks and deformation. The time-frequency characteristics of the acoustic emission signal are used to assess crack growth activity, and the changing trends in the stress data reflect the load distribution on the structure. When monitoring parameters exceed preset safety thresholds, the system immediately triggers an audible and visual alarm, prompting personnel to take emergency measures. After completing data collection, the STM32 controller initiates the return process, causing the power wheel 8 to reverse and drive the probe back out of the pipeline along its original path. The entire system also features a fault self-diagnosis function, monitoring battery charge, motor load, signal strength, and other status parameters in real time to ensure reliable operation. This device's design not only addresses the explosion-proof requirements of the unique mine environment but also enables automated and intelligent pipeline safety monitoring, providing a crucial technical tool for preventing mine accidents.

[0051] In a further embodiment of the present invention, the present invention comprises a collection cabin 1, a power cabin 2, and a control cabin 3. A collection probe 5 and an image acquisition device 6 are fixed to the front end of the collection cabin 1. The collection probe 5 houses an acoustic receiver and stress sensing device, which is composed of a pressure sensor and a pickup unit. The rear end of the collection cabin 1 is composed of four bidirectional Furley wheels 7, and the power cabin 2 is composed of two power wheels 8. Simultaneously, the probe can be controlled to advance from a computer, and while acquiring data, the internal conditions of the mine can also be observed, enabling real-time video recording. This device can be used in coal mine safety inspections to help detect underground parameters and observe the underground working environment, ensuring that the equipment is operating normally or under optimal conditions. The piezoelectric sensor used in the present invention does not require an external power supply, reducing energy loss. The acoustic receiver and stress sensing device and the image acquisition device are located on the same plane, enabling better data recording and acquisition. Furthermore, the compartmented, detachable assembly method employed by the present invention facilitates subsequent installation, disassembly, and maintenance.

[0052] In the description of this application, it should be noted that the terms "upper" and "lower" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0053] The above are only preferred embodiments of the present invention and do not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A compartment-type piezoelectric sensing probe device for mine exploration, characterized in that: include: The collection cabin (1), the power cabin (2) and the control cabin (3) are connected in sequence from bottom to top. A collection probe (5) and an image acquisition device (6) are provided at the bottom of the collection cabin (1). A plurality of Furley wheels (7) for bidirectional walking are provided on the circumference of the outer wall of the collection cabin (1). At least two power wheels (8) are provided on the circumference of the outer wall of the power cabin (2). A battery (17) and a control chip are provided in the control cabin (3). The control chip is used to control the collection cabin (1) and the power cabin (2), and the battery (17) is used to supply power.

2. The compartment-type piezoelectric sensing probe device for mine exploration according to claim 1 is characterized in that: The collection cabin (1) further comprises: a collection cabin shell, the collection cabin shell being a shell structure with an opening on the top side, a first clamping groove being provided on the outer edge of the top end of the collection cabin shell, a plurality of first through holes for extending the Furley wheel (7) being provided on the circumference of the collection cabin shell, a first mounting through hole for mounting a collection probe (5) and a second mounting through hole for mounting an image acquisition device (6) being provided on the bottom of the collection cabin shell.

3. The compartment-type piezoelectric sensing probe device for mine exploration according to claim 2, characterized in that: The collection chamber (1) further comprises: a buckle (9) and a rotating shaft (10), wherein each first through hole is provided with a buckle (9) on both the upper and lower sides, and the plurality of buckles (9) are connected to the inner wall of the collection chamber shell, and the plurality of rotating shafts (10) are parallel to the axis of the collection chamber shell, and the upper end of each rotating shaft (10) is rotatably mounted in a buckle (9) located on the upper side through a bearing, and the lower end of each rotating shaft (10) is rotatably mounted in a buckle (9) located on the lower side through another bearing.

4. The compartment-type piezoelectric sensing probe device for mine exploration according to claim 3 is characterized in that: Each Furley wheel (7) comprises: two wheel hubs (71) and six ball bearings (72), both wheel hubs (71) are provided with shaft holes (73), both wheel hubs (71) are mounted on a rotating shaft (10) through the shaft holes (73) and are symmetrically arranged in the upper and lower directions, the upper side surface of the wheel hub (71) located on the upper side is provided with three first fixed shafts along the circumferential direction, the three first fixed shafts are connected in sequence end to end, and each first fixed shaft is provided with a rollable ball bearing (72); the lower side surface of the wheel hub (71) located on the lower side is provided with three second fixed shafts along the circumferential direction, the three second fixed shafts are connected in sequence end to end, and each second fixed shaft is provided with a rollable ball bearing (72).

5. The compartment-type piezoelectric sensing probe device for mine exploration according to claim 2, characterized in that: The power cabin (2) further comprises: a power cabin shell, the power cabin shell being a shell structure with an opening on the top side, a bottom plate of the power cabin shell being provided with a wiring hole, a second clamping groove being provided on the outer edge of the top end of the power cabin shell, a first clamping portion matching the first clamping groove being provided on the inner edge of the bottom end of the power cabin shell, a plurality of second through holes for extending the power wheel (8) being provided in the circumference of the power cabin shell, a plurality of baffles (11) being provided inside the power cabin shell, each baffle (11) being a cavity structure with a single-side opening, a power wheel (8) being installed in each cavity structure, and an outer edge of each cavity structure being connected to an edge of a second through hole.

6. The compartment-type piezoelectric sensing probe device for mine exploration according to claim 5, characterized in that: The power cabin (2) further includes a motor (12). The inner wall of the power cabin shell is further connected to a plurality of motor seats (13). Each motor (12) is installed in a motor seat (13). Each motor (12) is used to drive a power wheel (8) to rotate.

7. The compartment-type piezoelectric sensing probe device for mine exploration according to claim 5, characterized in that: The control cabin (3) comprises: a control cabin shell, a battery mounting box (16) is provided inside the control cabin shell, the battery (17) is installed in the battery mounting box (16), a plurality of cover mounting holes (15) are provided at the top end of the control cabin shell, and a second clamping portion matching the second clamping groove is provided at the inner edge of the bottom end of the control cabin shell.

8. The compartment-type piezoelectric sensing probe device for mine exploration according to claim 7, characterized in that: Also includes: A piezoelectric sensor probe cover (4) is mounted on the top of the control cabin housing through a plurality of cover mounting holes (15).

9. The compartment-type piezoelectric sensing probe device for mine exploration according to claim 7, characterized in that: The collection cabin shell, power cabin shell and control cabin shell are all shell structures divided equally into left and right.

10. The compartment-type piezoelectric sensing probe device for mine exploration according to claim 1, characterized in that: The collection probe (5) is provided with a sound receiving and stress sensing device.

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