Visual detection device and method for hydraulic structure in muddy water environment

Abstract

The invention discloses a visual detection device and method for a hydraulic structure in a muddy water environment, and belongs to the field of intelligent operation and maintenance of hydraulic engineering. The device comprises a grab rail, a high-definition waterproof camera, a double-layer rubber sleeve, a pressure water pipe and a drainage pipe. According to the method, a detection surface is pre-flushed through pressure clear water, a second rubber sleeve with a longer lower edge is used for preferentially making contact with the structure and forming a closed space, clear water is injected to replace internal muddy water, then a first rubber sleeve makes contact with the structure to form outer layer sealing, and therefore a local clear water window is created in the muddy water for high-definition observation. The device can be integrated with a crack width gauge or switched into a dry air injection mode, so that quantitative measurement of diseases is realized or an ultra-high-definition image is obtained. The observation problem caused by poor light transmission of muddy water is solved, the integrated operation of flushing, sealing, replacement and observation is achieved, and the device has the advantages of being visual in principle, clear and reliable in image, extensible in function and convenient and fast to operate.

Description

Technical Field

[0001] This invention belongs to the field of intelligent operation and maintenance of water conservancy projects, and in particular, it relates to a method for detecting underwater hydraulic concrete structures, especially a visual detection device and method for hydraulic structures in turbid water environments. Background Technology

[0002] During the long-term operation of water conservancy projects, hydraulic concrete structures are subject to water erosion, freeze-thaw cycles, chemical corrosion, and loads, making their surfaces prone to defects such as cracks, erosion, and exposed reinforcement. Timely and accurate detection of these surface defects is a prerequisite for structural safety assessment and targeted repair. However, many reservoirs and rivers in my country experience extremely high sediment content during flood season or under specific hydrological conditions, creating turbid water environments with very poor light transmittance. This poses a severe challenge to the visual inspection of underwater structural surfaces. Traditional underwater exploration by divers is not only high-risk and inefficient but also fails to preserve objective and clear visual evidence. Furthermore, the optical camera equipment on conventional underwater robots suffers from drastically reduced shooting distances in turbid water, resulting in blurry images with low contrast and severely limited effective observation range, making it difficult to identify minute cracks and erosion features.

[0003] Currently, detection technologies applied to turbid water environments mainly rely on acoustic imaging equipment, such as multibeam sonar and side-scan sonar. While these technologies can overcome optical limitations and obtain the general outline of structures in turbid water, their spatial resolution is limited, failing to clearly present details such as surface textures, microcracks, and material defects, making it difficult to meet the precise requirements of engineering damage assessment. In recent years, although some studies have attempted to use active optical technologies such as laser scanning and range-gated imaging, or to utilize image enhancement algorithms to improve the image quality of turbid water, these methods are typically complex, costly, and sensitive to environmental conditions, and their effectiveness remains unsatisfactory in extremely high-turbidity water bodies. More importantly, existing technical solutions mostly focus on how to "penetrate" or "resolve" images from turbid media, failing to fundamentally solve the problem of turbidity in the observation window medium. This results in the clarity, reliability, and intuitiveness of the detection results failing to meet the requirements of high-standard operation and maintenance. Therefore, there is an urgent need for a device and method that can actively create a local clear water observation environment to achieve direct, high-definition, and reliable visual detection of underwater structural surfaces.

[0004] A review reveals numerous publicly available high-definition camera technologies and image analysis methods for murky water environments, but no technology claims to directly acquire high-definition image data in murky water conditions. The following are publicly available solutions: Chinese Patent CN222528632U discloses a micro-touch underwater topography instrument for turbid water, effective for measuring the topography of shallow sea areas. Chinese Patent CN117237792A discloses a method for detecting defects in turbid water based on multi-feature recognition technology, capable of estimating the size of the affected area within the entire underwater structure. Chinese Patent CN116465900A discloses an underwater robot turbid water detection device and its control method, solving the problem that in many watersheds, turbid water prevents existing underwater robots from accurately imaging and detecting underwater structures. Chinese Patent CN219215347U discloses a turbid water surface defect detection device based on an origami structure, achieving image clarity by replacing the turbid water within the data acquisition range with clear water. Chinese patent CN209002113U discloses a box-type turbid water camera system that can clearly detect structures in turbid water, improving the efficiency of video observation in turbid water.

[0005] The aforementioned publicly available technologies generally do not take into account the complex surface morphology of hydraulic structures and the possibility of sediment or debris accumulating on the tested surface. This leads to problems such as poor sealing, low efficiency of replacing turbid water with clean water, and limited testing scenarios when applied to visual inspection of hydraulic structures in turbid water environments. Summary of the Invention

[0006] The purpose of this invention is to provide a visual inspection device and method for hydraulic structures in turbid water environments, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A visual inspection device for hydraulic structures in turbid water environments is characterized in that the device includes an embedded waterproof video data cable and a pressure water pipe. The embedded waterproof video data cable passes through a handrail and is connected to a high-definition waterproof camera for observing the defects on the surface of the structure.

[0008] Preferably, the high-definition waterproof camera can be a model with electronic image stabilization or mechanical gimbal stabilization to counteract image shaking caused by hand-holding or water flow fluctuations and obtain more stable observation images.

[0009] Preferably, the high-definition waterproof camera should integrate a supplementary lighting function to provide light source support for dim detection environments.

[0010] Preferably, the supplementary light source can be a multi-band LED, especially a specific blue-green light band that has better penetration into murky water, in order to optimize the lighting effect in murky water environments.

[0011] Furthermore, the pressure water pipe is connected to a branch port for flushing clean water into the first branch water pipe and the second branch water pipe, thereby flushing away silt and other deposits on the surface of the structure.

[0012] Preferably, a miniature pressure sensor can be integrated at the outlet or branch port of the pressure water pipe to monitor and adjust the flushing water pressure, so as to avoid damage to the structural surface due to excessive water pressure or incomplete cleaning due to excessive water pressure.

[0013] Preferably, the water source is not limited to a mobile water purification vehicle, but can also be connected to a pre-stored clean water tank on a ship or shore, or a large-capacity replaceable portable clean water bag can be used to adapt to different operating site conditions.

[0014] Alternatively, a handheld hard cleaning tool can be used to clean stubborn deposits on structural surfaces using a combination of water rinsing and tool cleaning.

[0015] Preferably, the handheld hard cleaning tool can be designed to be detachable, and can be connected to the outside of the handle or rubber sleeve by a buckle or thread, so as to facilitate the scraping and cleaning of stubborn attachments after rinsing.

[0016] Furthermore, the ends of the first and second branch water pipes are connected to a first and a second rubber sleeve, and their joints are provided with a first reinforced connection port and a second reinforced connection port to ensure that the outlets of the first and second branch water pipes are not blocked due to the large deformation of the first and second rubber sleeves during the water injection process.

[0017] Preferably, the first and second reinforced connectors are made of rigid materials and have a large volume, which can ensure the stability of the connectors over a wide range.

[0018] Preferably, a second rubber sleeve is provided inside the first rubber sleeve, both of which are connected to the bottom of the handrail to isolate the space on the structural surface.

[0019] Preferably, the first and second rubber sleeves can be made of rubber or silicone composite materials with different hardness. For example, the second rubber sleeve can be made of a softer, better-sealing material to fit the surface, while the first rubber sleeve can be made of a more resilient and tear-resistant material to provide external protection.

[0020] Preferably, the edge of the second rubber sleeve that contacts the structural surface can be designed as an embedded magnetic strip or an inflatable sealing ring. When the object being tested contains a ferromagnetic structure and the surface is uneven, the local sealing effect can be enhanced by magnetic adsorption or further expansion.

[0021] Furthermore, a drain pipe is inserted into the first rubber sleeve and the second rubber sleeve. A first check valve and a second check valve are provided at the contact points between the drain pipe and the first rubber sleeve and the second rubber sleeve, for discharging water and air from the first rubber sleeve and the second rubber sleeve and preventing external water from entering the drain pipe.

[0022] Preferably, the drain pipe can be connected to a small manual, electric, or Venturi-driven water pump to actively accelerate the discharge of turbid water and air from the rubber sleeve-enclosed space, thus shortening the replacement time.

[0023] Preferably, the first and second check valves can be duckbill valves or umbrella valves, which open when the internal pressure is greater than the external pressure and close otherwise to achieve automatic backflow prevention.

[0024] Furthermore, the lower edge of the second rubber sleeve is lower than that of the first rubber sleeve. When the visual detection device is vertically inserted into the turbid water environment and comes into contact with the structural surface, the second rubber sleeve first comes into contact with the structural surface. After the turbid water is cleaned in the space isolated by the second rubber sleeve, the first rubber sleeve then comes into contact with the structural surface.

[0025] Furthermore, the second rubber sleeve provides an observation space for the high-definition waterproof camera, while the first rubber sleeve protects the enclosed space inside the second rubber sleeve from external muddy water.

[0026] Preferably, several simple pressure balancing holes or flexible overflow valves can be provided in the interlayer space between the first rubber sleeve and the second rubber sleeve. When the internal pressure of the second rubber sleeve increases abnormally, a small amount of clean water is allowed to flow into the interlayer buffer to prevent the rubber sleeve from breaking.

[0027] Furthermore, before the second rubber sleeve comes into contact with the structural surface, water is injected into the pressure water pipe to flush away the silt and sediment on the structural surface, and then the second rubber sleeve and the first rubber sleeve are brought into contact with the structural surface in sequence.

[0028] Furthermore, the handrail can be fitted with a portable display screen, which is connected to an embedded waterproof video data cable for real-time display of footage captured by a high-definition waterproof camera.

[0029] Preferably, the portable display screen can replace or be connected to a waterproof control terminal with video recording, image capture, and wireless transmission functions, facilitating real-time on-site analysis or remote data transmission back to the terminal.

[0030] Preferably, the high-definition waterproof camera can be integrated with a laser ranging or dot matrix projection module. After obtaining a clear field of view, it can directly quantify the crack width and erosion area, and the measurement data can be superimposed and displayed on the video screen.

[0031] Furthermore, a handrail can be installed in the middle of the handrail to provide a gripping function for the operator.

[0032] Preferably, the handrail can adopt a quick-release structure and be equipped with poles of different lengths to adapt to different operating positions and water depth requirements, such as on the shore or on a boat.

[0033] Furthermore, the pressure water pipe is connected to the waist-binding exoskeleton for connection with the human body, increasing stability.

[0034] Preferably, the waist-tight exoskeleton can be equipped with a buoyancy adjustment module, which changes the overall specific gravity of the device in water by inflating and deflating it, making it easier for the operator to hold and reducing fatigue.

[0035] Furthermore, the pressurized water pipe is connected via a waist-tight exoskeleton and ultimately to a mobile water purification vehicle for filtering turbid water and providing a source of clean water for the device.

[0036] Preferably, the filtration unit of the mobile water purification vehicle can adopt a multi-stage filtration design, including coarse filtration, fine filtration, and a flocculant dosing device added when necessary, to cope with water sources of different turbidity and ensure the cleanliness of the supplied water.

[0037] A method for visual inspection of hydraulic structures in turbid water environments, comprising: S1. The operator puts on the waist-tight exoskeleton and connects it to the mobile water purification vehicle. Then, the mobile water purification vehicle is started to pre-run the real-time water purification function. S2. Install handrails and a portable display screen on the device, and adjust the shooting image of the high-definition waterproof camera; S3. Select the part of the structure surface to be observed in the turbid water environment, use the device to flush away the silt and sediment, and then bring the second rubber sleeve and the first rubber sleeve into contact with the structure surface in sequence. After the structure surface image is clearly visible, record and save the surface observation image. S4. Mark the observed points where diseases exist and continue testing according to the plan.

[0038] Preferably, in step S3, after the second rubber sleeve contacts the structural surface to form a preliminary seal, most of the turbid water inside can be drained through the drain pipe first, and then clean water can be injected for final rinsing and replacement, so as to improve the efficiency of clean water utilization and the replacement speed.

[0039] Preferably, in step S4, when marking the locations where defects exist, the device's handrail or an additional positioning rod can be used in conjunction with a GPS or total station on the water surface to mark and record the underwater location of the defect points, forming a defect distribution map with spatial coordinates.

[0040] The technical effects and advantages of this invention are as follows: 1. This invention employs a physical isolation method involving localized clear water to solve the problem of optical imaging failure in turbid water environments. Unlike traditional techniques that rely on complex acoustic imaging or image enhancement algorithms, this invention creates a sealed space by having first and second rubber sleeves contact the structural surface. Pressurized clear water then replaces the turbid water within this space, creating a clear water viewing window for direct observation by the high-definition camera. This method is straightforward in principle and reliable in effect, enabling the acquisition of high-definition images comparable to those in clear water environments in extremely turbid water bodies. This allows for intuitive and clear identification of surface defects such as cracks and erosion in hydraulic structures.

[0041] 2. The double-layer rubber sleeve sequential contact and sealing mechanism designed in this invention achieves a balance between sealing effect and observation efficiency. By prioritizing the contact of the lower, lower-edge second rubber sleeve and initially isolating the observation space, turbid water replacement and cleaning can be quickly completed within a small area, allowing the camera to rapidly obtain an effective field of view. Subsequently, the contact of the first rubber sleeve forms an outer layer of protection, effectively isolating external turbid water interference and ensuring the long-term stability and clarity of the inner observation space. This design balances rapid response and reliable sealing, making it highly practical.

[0042] 3. This invention integrates a unified process of "rinsing-sealing-observation-drainage," greatly improving the operational efficiency and convenience of on-site testing. The device uses a single pressurized water pipeline to both rinse surface sludge before testing and provide clean water for replacement in the sealed space, demonstrating a high degree of functional integration. Combined with a drain pipe and a one-way valve, turbid media can be quickly discharged. With a waist-cinching exoskeleton, handrails, and a portable display screen, it forms a lightweight, mobile testing system directly controlled by human power, eliminating the need for a large underwater robot platform. It is particularly suitable for rapid inspection and focused investigation in complex locations such as shorelines and shallow water areas.

[0043] 4. This invention constructs a cost-effective and easily scalable practical solution for visual detection of turbid water. The main body of the device consists of a mechanical structure and general-purpose electronic equipment, avoiding expensive dedicated acoustic or laser imaging sensors, thus significantly reducing manufacturing costs. Its working principle is intuitive, requiring no complex training for operators to master, and maintenance is simple. This method, in conjunction with a mobile water purification vehicle, forms an independent and complete working unit, providing a reliable technical means for conducting high-quality detection at remote water conservancy project sites lacking clean water sources or power supply, and has broad engineering application prospects. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of a visual detection device for hydraulic structures in turbid water environments according to the present invention.

[0045] Figure 2 This is a schematic diagram of the structure of a complete set of hydraulic structure visual detection devices in turbid water environment before operation according to the present invention.

[0046] Figure 3 This is a schematic diagram of a visual inspection device for hydraulic structures in turbid water environments, as described in this invention, used for the inspection of planar hydraulic structures.

[0047] Figure 4 This is a schematic diagram of a visual inspection device for hydraulic structures in turbid water environments, used for inspection of accessible pipeline structures.

[0048] Figure 5 This is a schematic diagram of a visual inspection device for hydraulic structures in turbid water environments, used for inspection of inaccessible pipeline structures.

[0049] Figure 6 This is a schematic diagram of a visual inspection device for hydraulic structures in turbid water environments, as described in this invention, used for deep-water hydraulic structure inspection operations.

[0050] Figure 7 This is a flowchart of a visual inspection method for hydraulic structures in turbid water environments according to the present invention.

[0051] In the diagram: 1. Visual inspection device for hydraulic structures in turbid water environment; 11. Embedded waterproof video data cable; 12. Pressure water pipe; 13. Diversion port; 14. First reinforced connection port; 15. First diversion water pipe; 16. Second diversion water pipe; 17. First rubber sleeve; 18. Second rubber sleeve; 19. Second reinforced connection port; 110. Second one-way valve; 111. First one-way valve; 112. Drain pipe; 113. High-definition waterproof camera; 114. Handrail; 2. Turbid water; 3. Structure; 4. Mobile water purification vehicle; 5. Waist-tight exoskeleton; 6. Portable display screen; 7. Handrail; 8. Accessible pipe structure; 9. Inaccessible pipe structure; 10. Boat. Detailed Implementation

[0052] 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. First Embodiment

[0053] To address the problem of blurry images and inability to clearly identify minute surface defects of hydraulic structures caused by poor light transmittance in existing optical detection methods in turbid water environments, this embodiment details the structure and basic operating mode of a device that allows direct observation by creating a locally accessible clear water viewing window. Figure 1 , Figure 2 As shown.

[0054] (1) The hydraulic structure visual detection device (1) in the turbid water environment includes a handrail (114) as the main support structure. An embedded waterproof video data cable (11) is pre-embedded inside the handrail (114) and a separate pressure water pipe (12) is passed through it. A high-definition waterproof camera (113) is fixedly connected to the bottom end of the handrail (114), and the video data cable (11) is electrically connected to it. A first rubber sleeve (17) and a second rubber sleeve (18) are coaxially sleeved on the outer periphery of the bottom end of the handrail (114). The pressure water pipe (12) is connected to a diversion port (13) at the bottom end and branches into a first diversion water pipe (15) and a second diversion water pipe (16), which respectively penetrate the side walls of the two rubber sleeves, and a first reinforced connection port (14) and a second reinforced connection port (19) are provided at the penetration point. A drain pipe (112) penetrates both rubber sleeves at the same time, and a first one-way valve (111) and a second one-way valve (110) are provided at the penetration point.

[0055] (2) In the basic testing mode, the operator holds the device and connects the pressure water pipe (12) to the clean water source provided by the mobile water purification vehicle (4). First, the device is inserted into the muddy water (2) and brought close to the surface of the structure (3). The clean water sprayed from the pressure water pipe (12) and the first and second branch water pipes (15, 16) washes the silt on the surface of the test point. Then, the device is pushed so that the second rubber sleeve (18) with the longer lower edge contacts and presses against the surface of the structure (3) first, forming a preliminary closed annular observation space.

[0056] (3) Keep injecting clean water. Under water pressure, the turbid water in the enclosed space is continuously squeezed out through the second one-way valve (110) on the drain pipe (112) until the medium in the space is completely replaced by clean water. At this time, the high-definition waterproof camera (113) obtains a clear field of view in the clean water, and the operator can observe and record the surface condition of the structure through the portable display screen (6). Subsequently, the device is further pushed so that the first rubber sleeve (17) also comes into contact with the surface of the structure, forming an outer layer of sealing protection to ensure the stability of the inner observation space, thereby realizing high-definition visual detection of the surface of the structure in a turbid water environment. Second Embodiment

[0057] To address the issue of single-layer seals being easily disturbed in complex underwater environments, leading to poor stability of the clear water viewing window, this embodiment details a double-layer sequential sealing and protection mechanism composed of the first rubber sleeve (17) and the second rubber sleeve (18), such as... Figure 1 , Figure 3 As shown.

[0058] (1) The lower edge of the second rubber sleeve (18) is designed to be lower than the first rubber sleeve (17). When the device (1) is lowered vertically and comes into contact with the surface of the structure (3), the second rubber sleeve (18) first deforms and fits the surface to form the first seal. This design minimizes the space volume that needs to be initially replaced with muddy water, which is conducive to quickly completing the replacement with clean water, so that the high-definition waterproof camera (113) can quickly obtain effective observation images.

[0059] (2) After the turbid water is replaced inside the second rubber sleeve (18) and observation begins, the operator continues to apply thrust to make the first rubber sleeve (17) contact and press against the surface of the structure (3). The first rubber sleeve (17) constitutes the second physical seal. Its main function is not to directly participate in creating the observation space, but to completely isolate the second rubber sleeve (18) and the clear water observation space inside it from the external turbid water (2) environment, forming a stable protective layer.

[0060] (3) The inner second rubber sleeve (18) is responsible for efficient fit and creating the observation window; the outer first rubber sleeve (17) is responsible for resisting external water flow disturbance, preventing muddy water from seeping in, and protecting the second rubber sleeve (18) from scratch damage. This mechanism significantly improves the stability and reliability of the observation environment when working in flowing muddy water or on uneven structural surfaces. Third Embodiment

[0061] To address the issue of potential blockage of flushing and drainage channels due to large deformation of the rubber sleeve caused by internal water pressure or external extrusion during observation, this embodiment details the protective function of the first reinforced connection port (14) and the second reinforced connection port (19) for the pipeline, and combines the drain pipe (112) with one-way valves (110, 111) to achieve controllable replacement, such as... Figure 1 As shown.

[0062] (1) The first branch water pipe (15) and the second branch water pipe (16) are fixedly connected to the first reinforced connection port (14) and the second reinforced connection port (19) respectively at the position where they pass through the rubber sleeve wall. These two connection ports are made of rigid engineering plastic, and their structural strength is much higher than that of the surrounding rubber material. When water is injected into the rubber sleeve to make it expand, or when it is pressed against the structural surface, the rubber sleeve wall will deform significantly, but the rigid reinforced connection port can effectively support the pipe opening inside, prevent the pipe opening from being squeezed and closed, thereby ensuring that the clean water injection channel is always unobstructed.

[0063] (2) The first check valve (111) and the second check valve (110) installed on the drain pipe (112) are designed to allow fluid inside the rubber sleeve to drain outwards. When clean water is injected into the closed space formed by the second rubber sleeve (18), the internal pressure increases, pushing the second check valve (110) to open, and the turbid water is discharged smoothly. When water injection stops or the external water pressure is high, the check valve automatically closes to prevent turbid water from flowing back in.

[0064] (3) By controlling the flow rate and pressure of the clean water injection, the speed of the turbid water discharge in the closed space can be actively regulated to achieve rapid and thorough media replacement. Fourth embodiment

[0065] To demonstrate the applicability of the device and method of the present invention to different types of hydraulic structure testing scenarios, this embodiment provides specific implementation descriptions for three typical working conditions: "large volume vertical dam surface", "accessible large pipeline", and "small pipeline".

[0066] (1) such as Figure 3 , 7 As shown, for large-volume planar or curved structures such as vertical dam surfaces or bridge piers in reservoirs: operators can conduct inspections by hand on the workboat (10) or on the shore. A waist-tight exoskeleton (5) helps to distribute the weight of the device, and a mobile water purification vehicle (4) is placed on the shore or on the boat to provide clean water. The inspection process follows the basic model described in the first embodiment and is suitable for large-area general surveys or detailed inspections of key areas.

[0067] (2) such as Figure 4 , 7 As shown, for the accessible pipe structure (8): operators can enter the pipe interior. Within this confined space, the portability of the device is a significant advantage. The mobile water purification vehicle (4) can be placed outside the pipe inlet to provide long-distance water supply. When inspecting the inner wall of the pipe, the double-layer rubber sleeve can adapt to the pipe curvature, and operators can complete the circumferential inspection simply by walking along the inner wall.

[0068] (3) such as Figure 5 , 7 As shown, for inaccessible pipe structures (9): an extended handrail (114) is required to insert the front end of the device deep into the pipe, or the device can be connected to a dredging robot. The outer diameter of the first rubber sleeve (17) and the second rubber sleeve (18) must match the inner diameter of the pipe to ensure a seal. The operator observes the screen at the pipe opening through a portable display screen (6) and manipulates the rod to perform axial advancement and detection, achieving high-definition detection of defects such as siltation and cracks inside the pipe. Fifth Embodiment

[0069] To address the problems of laborious operation, poor stability, and inconvenient clean water supply during testing in murky water environments, this embodiment details the portable human-machine collaborative system comprised of the waist-tight exoskeleton (5) and the mobile water purification vehicle (4), such as Figure 2 , Figure 6 As shown.

[0070] (1) The waist-binding exoskeleton (5) is worn around the waist of the operator. Its back frame is connected to the upper part of the handrail (114), which can effectively transfer part of the weight of the device in the water to the human torso, greatly reducing the fatigue of holding the arms for a long time. At the same time, the exoskeleton structure increases the overall stability of the human body and the device, which is beneficial for navigating swaying waters (such as boats) on swaying water surfaces. Figure 6 (or a delicate control device on a slippery bank slope.)

[0071] (2) The pressure water pipe (12) is arranged along the frame of the waist-tight exoskeleton (5) and is finally connected to the mobile water purification vehicle (4) via a quick connector. The water purification vehicle (4) is an independent unit with a built-in water pump and multi-stage filtration system, which can directly draw water from the muddy water (2) on site and filter out clean water in real time without relying on external clean water sources. Sixth Embodiment

[0072] To address the issue that sediments may be disturbed during the initial stage of turbid water replacement, affecting the clarity of the water in the observation window, this embodiment details an optimized detection process including "pre-rinsing - contact sealing - secondary replacement," as a further description of the basic method of the first embodiment.

[0073] (1) Before the second rubber sleeve (18) comes into contact with the surface of the structure (3) to form a seal, do not press it completely. The operator holds the device and brings the outlet of the first branch water pipe (15) and the second branch water pipe (16) close to the surface of the test point, and turns on the clean water to perform a strong flush, thereby blowing away and washing away the loose silt, sediment and attached substances on the surface.

[0074] (2) After completing the surface pre-rinsing, perform the steps described in the first embodiment: bring the second rubber sleeve (18) into contact with the relatively clean surface that has been rinsed and press it tightly to seal. Then inject clean water to replace the turbid water remaining in the sealed space. Since most of the sediment on the surface has been removed in advance, the turbid water replaced this time has a low sand content, which can obtain a clear observation window more quickly and can prevent the sediment from being stirred up again during the observation process. Seventh Embodiment

[0075] To address the issue of excessively time-consuming processes that fail to meet rapid response requirements in emergency situations with limited time windows, such as flood season emergency patrols, rapid post-disaster assessments, or large-scale surveys, this embodiment details a collaborative detection mode combining rapid operation and image enhancement. This mode significantly reduces single-point on-site operation time and introduces a dedicated deep learning-based image restoration algorithm, achieving improved detection efficiency with acceptable compromises in image quality, thus gaining valuable time for emergency decision-making.

[0076] (1) In order to reduce the single-point operation time from the usual 1-3 minutes to less than 30 seconds, the operator quickly approaches the pre-selected test point with the handheld device 1. Without fine alignment, the flushing function is immediately started with the maximum rated water pressure, and the surface of the structure (3) is subjected to a strong sweeping flush for 5-8 seconds through the first and second branch water pipes (15,16). The goal of this stage is not to completely clean, but to use the water pressure impact force to instantly remove the loosest floating mud, algae and mobile sediments on the surface, exposing the general outline of the disease area.

[0077] (2) After rinsing, the operator should not stop, but immediately push the device forward so that the second rubber sleeve (18) contacts the rough surface with remaining water stains and applies medium pressure to seal it. Then, inject clean water in high flow mode, but the replacement time should be strictly controlled within 10-15 seconds. When the image on the portable display screen (6) changes from being completely indistinguishable to being able to vaguely identify macroscopic features such as crack direction and erosion area, it is immediately determined that the data acquisition at that point is complete. The first rubber sleeve (17) can lightly touch the surface to provide basic periphery stability, but a complete seal for a long time is not required.

[0078] (3) After a single-point acquisition is completed, immediately remove the device from the surface and associate the current video clip or keyframe image with a geotag via voice or Bluetooth shortcut key. The entire single-point operation cycle is expected to be 25-35 seconds.

[0079] (4) Under the above rapid process, the acquired images are obtained in a “semi-clear water” medium containing residual suspended particles. The algorithm model is used to decompose the image into a clear scene layer and a residual scattered light layer. The latter is accurately subtracted by the optimization algorithm to improve the image contrast and visibility.

[0080] (5) The descattered image is restored using a trained convolutional neural network. A large amount of paired data of "semi-clear water image - corresponding clear water reference image" is used for training to reconstruct the mapping relationship of structural texture and sharpen the edge of the disease.

[0081] (6) Based on the improved image quality, a disease identification model can be integrated to automatically select areas suspected of cracks, erosion, and exposed reinforcement, and display their outlines on the output image to provide guidance for interpreters.

[0082] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention. Eighth embodiment

[0083] To address the problem that traditional visual inspection in murky water environments can only perform qualitative observations and cannot quickly and quantitatively assess key defects such as cracks, this embodiment details a device modification that replaces the portable display screen (6) with an integrated crack width measuring instrument and its measurement method, thereby enabling in-situ, real-time, and accurate quantitative measurement of the observed crack width.

[0084] (1) In this embodiment, the component installed at the top of the handrail (114) is replaced with an integrated crack width measuring instrument (6'). The width measuring instrument (6') is a dedicated waterproof terminal that integrates image display, processing, measurement and recording. The width measuring instrument (6') receives real-time video streams from a high-definition waterproof camera (113) through an embedded waterproof video data cable (11). The width measuring instrument (6') integrates a dedicated measurement algorithm and can overlay the measurement results onto the video screen.

[0085] (2) In order to perform accurate measurements, the high-definition waterproof camera (113) needs to be pre-calibrated. By placing the device at a known distance, that is, at the standard working distance after the second rubber sleeve (18) is compressed, the target with standard size scale is photographed, the conversion relationship between the pixel size in the image and the actual physical size is established, and the calibration parameters are stored in the width measuring instrument (6'), or an infrared device capable of measuring distance is installed on the high-definition waterproof camera (113).

[0086] (3) After successfully creating a clear water observation window for the surface of structure (3) in turbid water (2) and discovering cracks according to the process described in the first or second embodiment, the operator extracts the current high-definition video image through the button on the width measuring instrument (6'), selects the crack area to be measured, automatically identifies the two sides of the crack in the selected area, and marks them with a bright line.

[0087] (4) If the crack edge is not clear enough due to stains or uneven lighting, the operator can switch to manual mode. By using the knob or touch screen, the two parallel measuring lines are precisely dragged to the two sides of the crack edge respectively. Once the edge is determined, the processor inside the width measuring instrument (6') calculates the pixel distance between the two edge lines according to the pre-calibrated spatial scale and converts it into physical width in real time. The value is then immediately superimposed and displayed on the screen next to the crack. Ninth Embodiment

[0088] To address the issue that even when replacing water with clean water, image detail may still be lost due to residual microparticles or light absorption by the water itself, in scenarios with extremely high turbidity or extreme requirements for observation clarity, this embodiment details a device modification and method for completely replacing turbid water in the observation space with dry air. This method aims to completely eliminate all interference from the liquid medium on optics.

[0089] (1) A portable silent air pump is added, which is connected to the device through a newly added air intake pipe. The air intake pipe is connected to the pressure water pipe (12) upstream of the branch port (13), and an air / water switching three-way valve is added. This valve can switch the fluid path from the clean water mode connected to the mobile water purification vehicle (4) to the air mode connected to the air pump. The first rubber sleeve (17) and the second rubber sleeve (18) adopt an enhanced design. The skeleton layer is made of high-strength nylon mesh cloth, and the rubber material is selected as a low air permeability and high tear resistance compound to ensure shape stability and airtightness when subjected to higher internal and external pressure differences. A digital pressure sensor is integrated on the handrail (114), and its probe monitors the pressure in the internal space of the second rubber sleeve (18) and the interlayer between the first and second rubber sleeves respectively. The sensor reading is displayed on the portable display screen (6) in real time and has a safety pressure threshold alarm function. The ordinary drain outlet connected to the end of the drain pipe (112) is replaced with a vacuum pump. This vacuum pump can generate a strong negative pressure in a sealed space in a short time, powerfully sucking out liquids and moisture.

[0090] (2) The operator switches the device to air mode and checks the working status of the air pump and vacuum pump. Following the standard procedure, the device is brought close to the surface of the structure (3) so that the second rubber sleeve (18) makes initial contact and forms a preliminary seal. The vacuum pump is turned on and the closed space formed by the second rubber sleeve (18) is pumped through the drain pipe (112) to drain most of the water.

[0091] (3) Turn off the vacuum pump, open the gas path through the gas / water switching valve, start the gas pump, and continuously inject the dried air treated by the dryer filter into the observation space through the air inlet pipe, the branch port (13), and the first and second branch water pipes (15, 16). Monitor the internal pressure through the digital pressure sensor to maintain it in a slightly positive pressure state that is slightly higher than the external water pressure, preventing external muddy water from seeping in, until the pressure sensor shows that the pressure is stable, and start the observation.

[0092] (4) After the observation is completed, first slowly open a controllable exhaust valve to balance the pressure inside the observation space with the water pressure in the external environment, and then remove the first and second rubber sleeves in sequence to avoid damage to the device due to pressure difference.

Claims

1. A visual inspection device for hydraulic structures in turbid water environments, characterized in that, The device includes an embedded waterproof video data cable (11) and a pressure water pipe (12). The embedded waterproof video data cable (11) passes through the handrail (114) and is connected to a high-definition waterproof camera (113) for observing the defects on the surface of the structure (3). The pressure water pipe (12) is connected to a diversion port (13) for flushing clean water into the first diversion water pipe (15) and the second diversion water pipe (16) to flush away silt and other deposits on the surface of the structure (3). The ends of the first branch water pipe (15) and the second branch water pipe (16) are connected to the first rubber sleeve (17) and the second rubber sleeve (18), and the joint is provided with the first reinforced connection port (14) and the second reinforced connection port (19) to ensure that the outlets of the first branch water pipe (15) and the second branch water pipe (16) will not be blocked due to the large deformation of the first rubber sleeve (17) and the second rubber sleeve (18) during the water injection process; the second rubber sleeve (18) is provided inside the first rubber sleeve (17), and both are connected to the bottom of the handrail (114) to isolate the space on the surface of the structure (3); A drain pipe (112) is inserted into the first rubber sleeve (17) and the second rubber sleeve (18). The contact part between the drain pipe (112) and the first rubber sleeve (17) and the second rubber sleeve (18) is provided with a first one-way valve (111) and a second one-way valve (110) to discharge water and air inside the first rubber sleeve (17) and the second rubber sleeve (18) and to prevent external water from entering the drain pipe (112).

2. The visual inspection device for hydraulic structures in turbid water environment according to claim 1, characterized in that, The lower edge of the second rubber sleeve (18) is lower than the first rubber sleeve (17). When the visual detection device is vertically inserted into the muddy water environment and comes into contact with the surface of the structure (3), the second rubber sleeve (18) first comes into contact with the surface of the structure (3), and after the muddy water is cleaned in the space isolated by the second rubber sleeve (18), the first rubber sleeve (17) comes into contact with the surface of the structure (3).

3. The visual inspection device for hydraulic structures in turbid water environment according to claim 1, characterized in that, The second rubber sleeve (18) provides an observation space for the high-definition waterproof camera (113), and the first rubber sleeve (17) provides protection for the second rubber sleeve (18) to ensure that the enclosed space inside the second rubber sleeve (18) is not affected by external muddy water.

4. The visual inspection device for hydraulic structures in turbid water environment according to claim 1, characterized in that, Before the second rubber sleeve (18) comes into contact with the surface of the structure (3), water is injected into the pressure water pipe (12) and the silt and sediment on the surface of the structure (3) are rinsed. Then the second rubber sleeve (18) and the first rubber sleeve (17) come into contact with the surface of the structure (3) in sequence.

5. The visual inspection device for hydraulic structures in turbid water environment according to claim 1, characterized in that, The handrail (114) is equipped with a portable display screen (6), which is connected to an embedded waterproof video data cable (11) for real-time display of the shooting images of the high-definition waterproof camera (113). Handrails (7) can be installed in the middle of the handrail (114) to provide gripping function for operators; the pressure water pipe (12) is connected to the waist-tight exoskeleton (5) to connect with the human body and increase stability; the pressure water pipe (12) is connected to the mobile water purification vehicle (4) through the waist-tight exoskeleton (5) to filter water from the turbid water (2) and provide a clean water source for the hydraulic structure visual detection device (1) in turbid water environment.

6. A method for visual inspection of hydraulic structures in turbid water environments, comprising: S1. The operator puts the waist-tight exoskeleton (5) on his waist and connects it to the mobile water purification vehicle (4). Then he starts the mobile water purification vehicle (4) and pre-runs the real-time water purification function. S2. Install a handrail (7) and a portable display screen (6) on the hydraulic structure visual inspection device (1) in a turbid water environment, and adjust the shooting screen of the high-definition waterproof camera (113); S3. Select the part of the structure (3) surface to be observed in the turbid water environment, use the hydraulic structure visual detection device (1) in the turbid water environment to rinse its silt and sediment, and then make the second rubber sleeve (18) and the first rubber sleeve (17) in sequence to contact the surface of the structure (3). After the surface image of the structure (3) is clearly visible, record and save the surface observation image. S4. Mark the observed points where diseases exist and continue testing according to the plan.

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