Underground water quality investigation device for small unmanned underwater vehicle

Abstract

The invention relates to the technical field of underground water quality survey, and discloses a small unmanned underwater vehicle underground water quality survey device, which comprises an underwater vehicle body, a protection mechanism is arranged on the surface of the underwater vehicle body, the protection mechanism comprises a protection head and an outer protection plate, the outer protection plate is arranged on the outer side surface of the underwater vehicle body, and the outer protection plate is arranged on the outer side surface of the underwater vehicle body. The protection head is arranged at the head of the underwater vehicle body, a propelling part is arranged at the tail of the underwater vehicle body, a detection mechanism is arranged at the end, close to the protection head, of the interior of the underwater vehicle body, and the device is provided with the detection mechanism with a cleaning assembly and a filtering assembly to conduct investigation work on underground water quality; the inner wall of the sampling pipe is swept and cleaned through the cleaning assembly, and impurities, sediments or biological membranes attached to the inner wall are effectively removed, so that pollution of the substances to a water sample is avoided, and smooth proceeding of water quality investigation work is improved.

Description

Technical Field

[0001] The invention relates to the technical field of groundwater quality investigation, in particular to a small unmanned underwater vehicle groundwater quality investigation device. Background Art

[0002] Groundwater is one of the largest freshwater resources on earth and plays a vital role in human production and life. It is an important water source for agricultural irrigation, industrial production and residents' lives, and is of great significance to maintaining ecological balance and protecting human health. With the acceleration of industrialization and urbanization, the groundwater environment has been increasingly polluted and damaged. In order to understand the status of groundwater resources, timely discover and treat pollutants in groundwater, and protect groundwater resources, groundwater quality investigation is particularly important.

[0003] At present, groundwater quality survey technology has formed a complete monitoring system and methods, including sampling and analysis, geophysical detection, geochemical analysis, hydrological monitoring and other technical means. When it is necessary to conduct water quality monitoring in hard-to-reach waters, conventional drilling group sampling will not only have a certain impact on the surrounding environment, but will also be limited by drilling technology and equipment capabilities, and cannot cover all areas that need to be monitored or reach deeper groundwater layers. At this time, we can use unmanned submersibles equipped with survey equipment to conduct sampling and analysis.

[0004] Small unmanned submersibles on the market are usually equipped with visual navigation systems and acoustic navigation to achieve navigation and positioning of the small unmanned submersibles. When using small unmanned submersibles to conduct groundwater quality surveys, sampling tubes are usually used to collect the waters to be tested and then conduct surveys on them. However, when the environment in the survey area is harsh, for example, when the water contains a lot of plankton, the inside of the sampling tube is easily attached during long-term use, which will have a great negative impact on the operation of the device and water quality surveys in the long run. Therefore, we need to set up a small unmanned submersible groundwater quality survey device to solve this problem. Summary of the invention

[0005] In view of the shortcomings of the prior art, the present invention provides a small unmanned submersible groundwater quality investigation device, which is provided with a detection mechanism with a cleaning component and a filtering component to investigate the groundwater quality. The cleaning component is used to sweep and clean the inner wall of the sampling tube, effectively removing impurities, sediments or biofilms attached to the inner wall, thereby avoiding the contamination of water quality samples by these substances and improving the smooth progress of water quality investigation.

[0006] A small unmanned submersible underground water quality investigation device comprises a submersible body, a protective mechanism is arranged on the surface of the submersible body, the protective mechanism comprises a protective head and an outer protective plate, the outer protective plate is arranged on the outer surface of the submersible body, a water outlet is opened on the surface of the outer protective plate, the protective head is arranged at the head of the submersible body, a propulsion member is arranged at the tail of the submersible body, a detection mechanism is arranged at one end of the submersible body close to the protective head, and a processing member is arranged inside one end of the submersible body close to the propulsion member.

[0007] The above technical solution further includes:

[0008] The propulsion member can realize the diving mission of the submersible body under the processing of the processing member. The processing member includes various sensors and signal receiving and sending devices. A shock-absorbing device is arranged around the processing member to reduce the damage caused by external collision and scratching.

[0009] The detection mechanism includes a sampling tube and a mounting frame, the sampling tube is arranged inside one end of the submersible body close to the propulsion member, a scraper is arranged inside the sampling tube, the mounting frame is fixedly connected to the inner surface of the submersible body, a detection member is arranged inside the mounting frame, a sampling inner tube is fixedly connected to the surface of one end of the detection member away from the mounting frame, a second filter is fixedly connected to the end of the sampling inner tube away from the detection member, and the detection member can detect and investigate the water quality of the water sample inside the sampling tube through the sampling inner tube.

[0010] The end of the detection cavity away from the protective head is fixedly connected to a mounting base plate, and the mounting base plate is fixedly connected to the inner surface of the end of the submersible body close to the processing piece. The interior of the sampling tube is provided with a detection cavity and a mounting cavity. The detection cavity is arranged inside the end of the sampling tube away from the protective head, and the mounting cavity is arranged inside the end of the sampling tube close to the protective head.

[0011] A first filter head is fixedly connected to the surface of one end of the submersible body close to the protective head, a collecting tube is fixedly connected to the surface of one end of the first filter head close to the submersible body, an inlet pipe is fixedly connected to the end of the collecting tube away from the first filter head, the inlet pipe is distributed in an installation cavity opened inside the sampling tube, the end of the inlet pipe away from the collecting tube is communicated with the detection cavity opened inside the sampling tube, a water outlet pipe is fixedly connected to the surface of one end of the sampling tube away from the collecting tube, a water outlet pipe is provided on the surface of the water outlet pipe with a water outlet valve, the end of the water outlet pipe leads to the water outlet, and the setting of the water outlet valve ensures that water does not flow back, thereby improving the safety of the device.

[0012] A water inlet valve is fixedly connected to the inner surface of one end of the installation cavity close to the detection cavity, a fixing ring is sleeved on the surface of the water inlet pipe, and the water inlet valve is connected to the fixing ring through a connecting block. The sampling inner tube is in the shape of a "7" and extends through the installation cavity into the detection cavity, and the portion of the sampling inner tube extending into the detection cavity is arranged at the center position of the sampling tube.

[0013] An adjusting motor is fixedly connected to the inner surface of one end of the detection cavity away from the mounting base plate, an adjusting rod is fixedly connected to the end surface of the adjusting motor close to the mounting base plate, the end of the adjusting rod is fixedly connected to a rotating shaft, and a scraper is fixedly connected to the outer surface of the rotating shaft. Two groups of adjusting rods are provided and are symmetrically distributed on the surface of the adjusting motor, three groups of scrapers are provided and are distributed around the circumference of the rotating shaft, and the position and size of the scrapers correspond to the position and size of the detection cavity.

[0014] The position of the detection part corresponds to the position of the sampling tube, and they are respectively arranged on both sides of the inside of the submersible body. The water inlet pipe, fixing ring, water outlet valve and water outlet pipe are all arranged on one side of the inside of the submersible body close to the sampling tube, and the sampling inner tube and mounting frame are arranged on one side of the inside of the submersible body close to the detection part.

[0015] The protective head is hollow in design and is overall conical in shape. A navigation head is provided on the surface of one end of the protective head away from the submersible body, and a positioning groove is provided on the surface of one end of the protective head close to the submersible body. There are two groups of positioning grooves which are symmetrically distributed on the surface of the protective head. During the investigation of groundwater quality, the head of the equipment is often the first to be hit by collisions from external objects. By designing the protective head as a whole to be conical and easy to disassemble and replace, the impact and scratches on the precision components inside the submersible caused by the collision can be effectively reduced, key sensors and electronic equipment can be protected from damage, and the service life of the submersible can be extended.

[0016] An installation groove is provided on the surface of one end of the submersible body close to the protective head, and a fixing plate is fixedly connected to the surface of the end of the submersible body close to the protective head. The fixing plate is in a "T" shape, and the position and size of the protruding part of the fixing plate correspond to the position and size of the positioning groove. Bolt holes are provided on the surfaces of the two arms of the fixing plate, and fixing nuts are arranged inside the bolt holes. The protective head is connected to the submersible body through the fixing nuts.

[0017] A lighting component is fixedly connected to the surface of one end of the submersible body close to the protective head. The lighting components are arranged in multiple groups and are distributed on the surface of one end of the submersible body close to the protective head about the circumference of the protective head.

[0018] A mounting plate is also provided inside the submersible body, and the mounting plate is arranged on the surface of the sampling tube on one side away from the mounting frame. A shock-absorbing spring is fixedly connected to the side of the mounting plate away from the sampling tube, and one end of the shock-absorbing spring away from the mounting plate is fixedly connected to the inner wall of the submersible body. The shock-absorbing springs are provided in multiple groups and are evenly distributed on the surface of the mounting plate on the side close to the inner wall of the submersible body. The provision of the shock-absorbing springs further improves the safety of the device.

[0019] Beneficial effects:

[0020] 1. The device is provided with a detection mechanism. By providing the detection mechanism with a cleaning component and a filtering component, on the one hand, the cleaning component can be used to sweep and clean the inner wall of the sampling tube, effectively removing impurities, sediments or biofilms attached to the inner wall, thereby avoiding the contamination of water quality samples by these substances. While ensuring the accuracy and representativeness of the sampling, the service life of the device is extended and the cost of frequent maintenance due to blockage is reduced. On the other hand, by providing a filter head at the water inlet pipe and the detection component, impurities such as suspended matter and particulate matter in the water can be further filtered out, thereby further purifying the water quality sample and improving the accuracy of the water quality analysis results.

[0021] 2. The device is provided with a protective mechanism. By arranging detachable protective heads and protective plates on the head and sides of the submersible, the device can effectively reduce the impact and scratches on the precision parts inside the submersible caused by collisions, protect key sensors and electronic equipment from damage, and extend the service life of the submersible. On the other hand, the detachable protective parts also facilitate the maintenance and care of the submersible after completing the mission. When the protective parts are damaged, they can be replaced separately without returning the entire submersible to the factory for repair, reducing maintenance costs and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative labor:

[0023] Figure 1 This is an exploded view of the structure of the present invention;

[0024] Figure 2 It is a schematic diagram of part A of the structure detection mechanism of the present invention;

[0025] Figure 3 It is a front cross-sectional view of the structure of the present invention;

[0026] Figure 4 It is a partial schematic diagram of the structural detection mechanism of the present invention;

[0027] Figure 5 It is a side sectional view of the structure of the present invention;

[0028] Figure 6 It is a schematic diagram of the overall structure of the present invention.

[0029] In the figure: 11. Submersible body; 12. Processing part; 13. Propulsion part; 2. Protection mechanism; 21. Outer protection plate; 22. Water outlet; 23. Protection head; 24. Navigation head; 25. Positioning groove; 26. Mounting groove; 27. Fixing plate; 28. Fixing nut; 29. ​​Illuminating part; 210. Mounting plate; 211. Shock-absorbing spring; 3. Detection mechanism; 31. First filter head; 32. Collecting tube; 33. Sampling tube; 34. Mounting bottom plate; 35. Detection cavity; 36. Mounting cavity; 37. Water inlet pipe; 38. Fixing ring; 39. Water inlet valve; 310. Adjustment motor; 311. Adjustment rod; 312. Rotating shaft; 313. Scraper; 314. Second filter head; 315. Sampling inner tube; 316. Detection part; 317. Mounting frame; 318. Water outlet valve; 319. Water outlet pipe. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] Embodiment 1

[0033] See also Figure 1-6A small unmanned submersible underground water quality investigation device comprises a submersible body 11, a protective mechanism 2 is arranged on the surface of the submersible body 11, the protective mechanism 2 comprises a protective head 23 and an outer protective plate 21, the outer protective plate 21 is arranged on the outer surface of the submersible body 11, a water outlet 22 is opened on the surface of the outer protective plate 21, the protective head 23 is arranged at the head of the submersible body 11, a propulsion member 13 is arranged at the tail of the submersible body 11, a detection mechanism 3 is arranged at one end of the submersible body 11 close to the protective head 23, and a processing member 12 is arranged inside the end of the submersible body 11 close to the propulsion member 13.

[0034] The propulsion member 13 can realize the diving task of the submersible body 11 under the processing of the processing member 12. The processing member 12 includes various sensors and signal receiving and sending devices. A shock-absorbing device is arranged around the processing member 12 to reduce the damage caused by external collisions and scratches.

[0035] The detection mechanism 3 includes a sampling tube 33 and a mounting frame 317. The sampling tube 33 is arranged inside the end of the submersible body 11 close to the propulsion member 13. A scraper 313 is arranged inside the sampling tube 33. The mounting frame 317 is fixedly connected to the inner surface of the submersible body 11. A detection member 316 is arranged inside the mounting frame 317. A sampling inner tube 315 is fixedly connected to the surface of one end of the detection member 316 away from the mounting frame 317. A second filter head 314 is fixedly connected to the end of the sampling inner tube 315 away from the detection member 316. The detection member 316 can detect and investigate the water quality of the water sample inside the sampling tube 33 through the sampling inner tube 315. The setting of the sampling tube 33 can partially collect the water area to be detected, and then detect and investigate it to prevent the result interference caused by equipment or external interference. At the same time, two groups of equipment such as the sampling tube 33 are arranged. Through multiple groups of comparison, the accuracy of the analysis and investigation of groundwater quality is further improved.

[0036] The end of the detection chamber 35 away from the protective head 23 is fixedly connected to the mounting base plate 34, and the mounting base plate 34 is fixedly connected to the inner surface of the end of the submersible body 11 close to the processing part 12. The interior of the sampling tube 33 is provided with a detection chamber 35 and a mounting chamber 36. The detection chamber 35 is arranged inside the end of the sampling tube 33 away from the protective head 23, and the mounting chamber 36 is arranged inside the end of the sampling tube 33 close to the protective head 23.

[0037] A first filter head 31 is fixedly connected to the surface of one end of the submersible body 11 close to the protective head 23, a collecting pipe 32 is fixedly connected to the surface of one end of the first filter head 31 close to the submersible body 11, an inlet pipe 37 is fixedly connected to the end of the collecting pipe 32 away from the first filter head 31, the inlet pipe 37 is distributed in an installation cavity 36 opened inside the sampling tube 33, the inlet pipe 37 is connected to the detection cavity 35 opened inside the sampling tube 33 at one end away from the collecting pipe 32, a water outlet pipe 319 is fixedly connected to the surface of one end of the sampling tube 33 away from the collecting pipe 32, a water outlet pipe 319 is provided on the surface of the water outlet pipe 319, a water outlet valve 318 is provided on the surface of the water outlet pipe 319, the end of the water outlet pipe 319 leads to the water outlet 22, the setting of the water outlet valve 318 ensures that water does not flow back, thereby improving the safety of the device.

[0038] A water inlet valve 39 is fixedly connected to the inner surface of one end of the installation cavity 36 close to the detection cavity 35. A fixing ring 38 is sleeved on the surface of the water inlet pipe 37. The water inlet valve 39 is connected to the fixing ring 38 through a connecting block. The sampling inner tube 315 is in the shape of a "7" and passes through the installation cavity 36 and extends into the detection cavity 35. The portion of the sampling inner tube 315 extending into the detection cavity 35 is arranged at the center position of the sampling tube 33.

[0039] An adjusting motor 310 is fixedly connected to the inner surface of one end of the detection cavity 35 away from the mounting base plate 34, an adjusting rod 311 is fixedly connected to the end surface of the adjusting motor 310 close to the mounting base plate 34, the end of the adjusting rod 311 is fixedly connected to a rotating shaft 312, and a scraper 313 is fixedly connected to the outer surface of the rotating shaft 312. Two groups of adjusting rods 311 are provided and are symmetrically distributed on the surface of the adjusting motor 310, three groups of scrapers 313 are provided and are distributed circumferentially about the rotating shaft 312, and the position and size of the scrapers 313 correspond to the position and size of the detection cavity 35.

[0040] The position of the scraper 313 can be adjusted by the adjustment rod 311 to ensure that the inner surface of the detection cavity 35 can be cleaned in all directions. At the same time, a drug storage part can be set inside the installation cavity 36. When the device is not performing an investigation, the cleaning effect is improved by discharging drugs into the detection cavity 35.

[0041] The position of the detection member 316 corresponds to the position of the sampling tube 33, and is respectively arranged on both sides of the inside of the submersible body 11. The water inlet pipe 37, the fixing ring 38, the water outlet valve 318 and the water outlet pipe 319 are all arranged on the side of the submersible body 11 close to the sampling tube 33, and the sampling inner tube 315 and the mounting frame 317 are arranged on the side of the submersible body 11 close to the detection member 316.

[0042] Working principle: In actual use, when it is necessary to conduct groundwater quality survey, the staff first needs to put the device into the target waters, and then control the propulsion component 13 through the processing component 12 to propel the submersible body 11 to a suitable working environment. At this time, the submersible body 11 is immersed in the water, and the protective head 23 can intercept larger debris. By starting the water inlet valve 39, the first filter head 31 will suck in the groundwater, and the sucked groundwater will pass through the collection pipe 32 and the water inlet pipe 37 and finally flow into the detection chamber 35 inside the sampling tube 33. When there are enough groundwater samples in the sampling tube 33, the water inlet valve 39 is closed, and the detection component 31 set inside the mounting frame 317 is started. 6. The detection member 316 performs sampling survey on the groundwater sample inside the detection chamber 35 through the sampling inner tube 315. After the survey work is completed, the water outlet valve 318 is started to discharge the groundwater inside the detection chamber 35 through the water outlet pipe 319; at the end of the survey work, the adjustment motor 310 can be started, and the adjustment motor 310 drives the adjustment rod 311 to extend and retract, so that the rotating shaft 312 moves inside the detection chamber 35, and at the same time, the rotating shaft 312 is started, and the rotating shaft 312 will drive the scraper 313 to rotate to clean the inner wall of the detection chamber 35. During the cleaning process, the medicine storage tube set in the installation chamber 36 can be used to put medicine into the inside of the detection chamber 35 to enhance the cleaning effect.

[0043] Embodiment 2

[0044] See also Figure 1-6 On the basis of the first embodiment, the protective head 23 is hollowed out and is conical in shape as a whole. A navigation head 24 is provided on the surface of one end of the protective head 23 away from the submersible body 11. A positioning groove 25 is provided on the surface of one end of the protective head 23 close to the submersible body 11. Two groups of positioning grooves 25 are provided and are symmetrically distributed on the surface of the protective head 23. During the investigation of groundwater quality, the head of the equipment is often the first to be hit by external objects. By designing the protective head 23 as a whole into a cone shape and making it easy to disassemble and replace, the impact and scratches on the precision parts inside the submersible caused by the collision can be effectively reduced, key sensors and electronic equipment can be protected from damage, and the service life of the submersible can be extended.

[0045] An installation groove 26 is provided on the surface of one end of the submersible body 11 close to the protective head 23, and a fixing plate 27 is fixedly connected to the surface of the end of the submersible body 11 close to the protective head 23. The fixing plate 27 is in a "T" shape, and the position and size of the protruding part of the fixing plate 27 correspond to the position and size of the positioning groove 25. Bolt holes are provided on the surfaces of the two arms of the fixing plate 27, and fixing nuts 28 are arranged inside the bolt holes. The protective head 23 is connected to the submersible body 11 through the fixing nuts 28.

[0046] A lighting element 29 is fixedly connected to one end surface of the submersible body 11 close to the protective head 23 . The lighting element 29 is provided in multiple groups and is distributed on one end surface of the submersible body 11 close to the protective head 23 about the circumference of the protective head 23 .

[0047] A mounting plate 210 is also provided inside the submersible body 11. The mounting plate 210 is arranged on the surface of the sampling tube 33 on one side away from the mounting frame 317. A shock-absorbing spring 211 is fixedly connected to the side of the mounting plate 210 away from the sampling tube 33. One end of the shock-absorbing spring 211 away from the mounting plate 210 is fixedly connected to the inner wall of the submersible body 11. The shock-absorbing spring 211 is provided in multiple groups and is evenly distributed on the surface of the mounting plate 210 on the side close to the inner wall of the submersible body 11. The provision of the shock-absorbing spring 211 further improves the safety of the device.

[0048] Working principle: During actual use, during the operation of the submersible body 11, if the device is hit or scratched, the protective head 23 and the outer protective plate 21 provided in the device can provide protection for the internal components. Since the protective head 23 is more likely to collide during the working process in the underground water environment, at the end of the work, if the protective head 23 needs to be inspected, maintained and related cleaning work is required, first, it is necessary to unscrew the fixing nut 28 provided on the surface of the fixing plate 27, remove the protective head 23 from the head of the submersible body 11, and wait for subsequent cleaning and repair and replacement. After the completion, the protective head 23 needs to be installed back to the original position. First, it is necessary to align the positioning groove 25 with the fixing plate 27, insert the protective head 23 into the installation groove 26, and then fix the positioning groove 25 back to the surface of the submersible body 11 through the fixing nut 28 to complete the cleaning and repair and replacement of the protective head 23.

[0049] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A small unmanned submersible groundwater quality investigation device, comprising a submersible body (11), Features: The surface of the submersible body (11) is provided with a protection mechanism (2), the protection mechanism (2) comprising a protection head (23) and an outer protection plate (21), the outer protection plate (21) being provided on the outer surface of the submersible body (11), the surface of the outer protection plate (21) being provided with a water outlet (22), the protection head (23) being provided at the head of the submersible body (11), the tail of the submersible body (11) being provided with a propulsion member (13), the inside of the submersible body (11) being close to the protection head (23) and the inside of the submersible body (11) being close to the propulsion member (13) and the processing member (12) being provided; The detection mechanism (3) comprises a sampling tube (33) and a mounting frame (317); the sampling tube (33) is arranged inside one end of the submersible body (11) close to the propulsion member (13); a scraper (313) is arranged inside the sampling tube (33); the mounting frame (317) is fixedly connected to the inner surface of the submersible body (11); a detection member (316) is arranged inside the mounting frame (317); a sampling inner tube (315) is fixedly connected to the surface of one end of the detection member (316) away from the mounting frame (317); and a second filter head (314) is fixedly connected to the end of the sampling inner tube (315) away from the detection member (316).

2. A small unmanned underwater vehicle groundwater quality survey device according to claim 1, Features: The end of the detection chamber (35) away from the protective head (23) is fixedly connected to a mounting base plate (34), and the mounting base plate (34) is fixedly connected to the inner surface of one end of the submersible body (11) close to the processing unit (12). The interior of the sampling tube (33) is provided with a detection chamber (35) and a mounting chamber (36). The detection chamber (35) is arranged inside the end of the sampling tube (33) away from the protective head (23), and the mounting chamber (36) is arranged inside the end of the sampling tube (33) close to the protective head (23).

3. A small unmanned underwater vehicle groundwater quality survey device according to claim 2, Features: A first filter head (31) is fixedly connected to the surface of one end of the submersible body (11) close to the protective head (23); a collecting pipe (32) is fixedly connected to the surface of one end of the first filter head (31) close to the submersible body (11); an inlet pipe (37) is fixedly connected to the end of the collecting pipe (32) away from the first filter head (31); the inlet pipe (37) is distributed in an installation cavity (36) provided inside the sampling pipe (33); the end of the inlet pipe (37) away from the collecting pipe (32) is connected to a detection cavity (35) provided inside the sampling pipe (33); a water outlet pipe (319) is fixedly connected to the surface of one end of the sampling pipe (33) away from the collecting pipe (32); a water outlet valve (318) is sleeved on the surface of the water outlet pipe (319); the end of the water outlet pipe (319) leads to a water outlet (22).

4. A small unmanned underwater vehicle groundwater quality survey device according to claim 3, Features: A water inlet valve (39) is fixedly connected to the inner surface of one end of the installation cavity (36) close to the detection cavity (35); a fixing ring (38) is sleeved on the surface of the water inlet pipe (37); the water inlet valve (39) is connected to the fixing ring (38) via a connecting block; the sampling inner tube (315) is in the shape of a letter "7" and passes through the installation cavity (36) and extends into the detection cavity (35); the portion of the sampling inner tube (315) extending into the detection cavity (35) is arranged at the center of the sampling tube (33).

5. A small unmanned underwater vehicle groundwater quality survey device according to claim 4, Features: An adjusting motor (310) is fixedly connected to the inner surface of one end of the detection cavity (35) away from the mounting base plate (34); an adjusting rod (311) is fixedly connected to the surface of one end of the adjusting motor (310) close to the mounting base plate (34); a rotating shaft (312) is fixedly connected to the end of the adjusting rod (311); a scraper (313) is fixedly connected to the outer surface of the rotating shaft (312); two groups of adjusting rods (311) are provided and are symmetrically distributed on the surface of the adjusting motor (310); three groups of scrapers (313) are provided and are distributed around the circumference of the rotating shaft (312); the position and size of the scrapers (313) correspond to the position and size of the detection cavity (35).

6. A small unmanned underwater vehicle groundwater quality survey device according to claim 5, Features: The position of the detection member (316) corresponds to the position of the sampling tube (33), and is respectively arranged on both sides inside the submersible body (11); the water inlet pipe (37), the fixing ring (38), the water outlet valve (318) and the water outlet pipe (319) are all arranged on one side of the submersible body (11) close to the sampling tube (33); the sampling inner tube (315) and the mounting frame (317) are arranged on one side of the submersible body (11) close to the detection member (316).

7. A small unmanned underwater vehicle underground water quality survey device according to claim 1, Features: The protective head (23) is hollow-out and conical in shape as a whole. A navigation head (24) is provided on one end surface of the protective head (23) away from the submersible body (11). A positioning groove (25) is provided on one end surface of the protective head (23) close to the submersible body (11). Two groups of positioning grooves (25) are provided and symmetrically distributed on the surface of the protective head (23).

8. A small unmanned underwater vehicle groundwater quality survey device according to claim 1, Features: A mounting groove (26) is provided on one end surface of the submersible body (11) close to the protective head (23); a fixing plate (27) is fixedly connected to one end surface of the submersible body (11) close to the protective head (23); the fixing plate (27) is in a "T" shape; the position and size of the protruding portion of the fixing plate (27) correspond to the position and size of the positioning groove (25); bolt holes are provided on the surfaces of the two arms of the fixing plate (27); fixing nuts (28) are arranged inside the bolt holes; the protective head (23) is connected to the submersible body (11) through the fixing nuts (28).

9. A small unmanned underwater vehicle underground water quality survey device according to claim 8, Features: An illumination component (29) is fixedly connected to one end surface of the submersible body (11) close to the protective head (23); the illumination components (29) are provided in multiple groups and are distributed on one end surface of the submersible body (11) close to the protective head (23) about the circumference of the protective head (23).

10. A small unmanned underwater vehicle underground water quality survey device according to claim 1, Features: A mounting plate (210) is further provided inside the submersible body (11). The mounting plate (210) is provided on a surface of a side of the sampling tube (33) away from the mounting frame (317). A damping spring (211) is fixedly connected to a side of the mounting plate (210) away from the sampling tube (33). One end of the damping spring (211) away from the mounting plate (210) is fixedly connected to the inner wall of the submersible body (11). The damping spring (211) is provided in multiple groups and is evenly distributed on the surface of the mounting plate (210) close to the inner wall of the submersible body (11).

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