水下机器人在水利涵洞工程检查中的应用与探讨

Application and Discussion of Underwater Robots in the Inspection of Water Conservancy Culvert Projects

水利涵洞洞身段检查历来是工程水下检查中的重点和难点。目前,一般通过潜水员水下探查的方式对涵洞工程洞身段进行检查,但潜水员水下探查具有作业不便捷、结果不直观、数据不量化等不足。文章研究利用水下机器人搭载声呐和光学摄像头等设备,对入海水道通榆河立交、白马湖穿运洞以及山阳地涵等流域性大型工程和区域性引排水小型工程的涵洞洞身内部淤积以及表观混凝土缺陷情况进行检查。经数据处理后,结果显示上述三座涵洞内部整体上均存在一定厚度的淤积,但淤积程度轻微,除山阳地涵洞壁局部混凝土结构缝超过2cm外其余两座工程洞壁表观混凝土未见明显异常,同时生成了三座工程的三维模型进行直观的展示。可供其他工程管理单位开展水利涵洞工程检查时参考借鉴。

The inspection of culvert sections in water conservancy projects has always been a key and challenging aspect of underwater engineering inspections.Currently,these inspections are generally conducted by divers,but this method has shortcomings,such as being inconvenient,providing non-intuitive results,and lacking quantifiable data.This paper explores the use of underwater robots equipped with sonar and optical cameras to inspect the internal sedimentation and apparent concrete defects of culverts in large-scale regional projects like the Tongyu River Interchange of the seaward channel,the Baimahu Cross-River Tunnel,and the Shanyang Culvert,as well as smaller local water diversion and drainage projects.After processing the data,the results indicate that all three culverts have some level of sediment accumulation inside,though the sedimentation is minor.Except for a local concrete structural seam exceeding 2cm in the Shanyang Culvert,no significant abnormalities were observed in the apparent concrete of the other two projects.Additionally,three-dimensional models of the three projects were generated for intuitive visualization.The findings of this study can serve as a reference for other engineering management units in conducting inspections of water conservancy culvert projects.