港珠澳大桥无人船水下综合检测系统研究

Research on Unmanned Underwater Comprehensive Inspection System for Hong Kong-Zhuhai-Macao Bridge

港珠澳大桥桥长22.36 km,水下服役环境复杂,为提高对大桥水下结构设施服役状态的检测能力,设计无人船水下综合检测系统。研发智能化无人船平台、水下机器人系统、水下地形地层检测设备、船/岸异构无线通信系统、多源数据融合及三维可视化系统等关键模块。应用无人船水下综合检测系统在大桥处开展水下检测工程实践,获取水下结构关键部位表观状况、桥墩承台外形特征和周边冲刷情况、人工岛斜坡堤结构及周边冲刷情况、隧道顶部回淤状态等信息。检测结果表明:该系统安全、可靠、高效,实质性提高了跨海集群设施水下维养检测水平,解决了目前跨海集群设施水下检测手段单一,检测数据独立,可追溯性、交互性差等问题。

To improve the inspection capacity of the underwater structures of the Hong Kong-Zhuhai-Macao Bridge that has a total length of 22.36 km,an unmanned underwater comprehensive inspection system is developed.The system is equipped with multiple key modules,including the intelligent unmanned ship platform,underwater robotic system,underwater terrain inspection facilities,heterogeneous wireless ship-to-shore communication systems,multi-source data fusion and 3D visualization systems.The unmanned underwater comprehensive inspection system is applied to inspect and capture the surface conditions of the key parts of the underwater structures,the morphology and scouring situation of the pile cap,the stability and soil erosion of the artificial island slope embankment,and the siltation condition at the top of the tunnel.The inspection results demonstrate that the unmanned underwater comprehensive inspection system is safe,secure and efficient,significantly improving the underwater maintenance and inspection level of the offshore cluster facilities and greatly advancing communication,tracing as well as the interoperability of data.