水下机器人技术在密云水库白河泄空隧洞水下探测中的应用

Application of underwater robot technology in underwater detection of Miyun reservoir Shirakawa emptying tunnel

利用观察型水下机器人(ROV)对密云水库白河泄空隧洞闸门井前有压段进行全方位水下探测,掌握了隧洞洞壁混凝土、裂缝和洞内淤积等状况,用DGPS定位了水下洞口位置和洞线走向,摸清了隧洞有压段在水下运行情况,为以后隧洞运行、维修和加固提供了决策依据,提高了水库现代化管理水平,为大水深、路径长、运行久及情况复杂未知的水下建筑物(特别是隧洞)的探测提供新的思路。

An observation type of underwater vehicle （ROV） was used in underwater detection of under pres- sure section before shaft gate of Miyun reservoir Shirakawa emptying tunnel, the status of the tunnel walls concrete, crack and hole filling were investigated. Positioning the location of underwater hole and hole line with DGPS, the condition of underwater flowing was investigated as well, which provide decision-making basis for the tunnel operation, maintenance, reinforcement, and improve the modern management level of the reser- voir, provide a new thought of the detection of deep water, long path, long running and complicated underwa- ter building.