关键词: 水下检查, 多波束, 水下机器人, 水下图像, 水下地形

Abstract: Under the long-term hydraulic effect after dam completion, some problems easily arise, such as cracks in the dam body, corrosion of the metal structure, scouring pit downstream of the dam, etc. Most of these problems are underwater and not easy to be discovered, posing a threat to the project safety. Due to the limitation of diving time and depth, the traditional underwater inspection by frogman can only inspect key parts, and it is difficult to carry out health inspection in a large area of the reservoir. In addition, due to the complexity of underwater environment, the safety risk and cost of underwater inspection by frogman are higher. In this paper, the technology of multi-beam combined underwater vehicle is used to inspect trash rack at intake and the scouring pit of the stilling basin of spillway. By inspection, the integrity, metal corrosion and surface debris deposition of the trash rack are identified, and the high precision data of the scouring pit in stilling basin are obtained. This technology breaks through the limits of the scope of underwater inspection, improves the work efficiency while ensuring the safety of personnel, and provides reliable data for the repair of underwater defect, which can provide reference for similar projects.

Key words: underwater inspection, multi-beam, unmanned underwater vehicles, underwater image, underwater terrain