Abstract: A cable-guided multifunctional robot is developed for above-water and underwater inspection of concrete panel. This robot employs a tracked chassis structure equipped with multiple detection sensors including video, sonar, and ultrasonic devices. First, a sonar survey is conducted on the panel surface to identify areas with suspected defects. Following cleaning, imaging observations are performed on the defect surfaces, and an impact echo tester is used for detailed inspection of internal defects. Finally, intelligent methods are employed to classify and locate the defects. This robot has been successfully applied at a pumped-storage power station which verified its accuracy and effectiveness.

Key words: robot design, concrete face rockfill dam, concrete defects, underwater detection

摘要： 针对抽蓄电站混凝土面板表观和内部缺陷检测问题，设计和研制一种带缆的多功能水上水下一体化检测机器人，该机器人采用履带式底盘结构，配置视频、声呐、超声波等多种传感检测器。首先通过声呐对面板表面进行普查观测，发现疑似缺陷的部位；清洗后对缺陷表面进行成像观测并利用冲击回波仪对内部缺陷进行详查，最后利用智能方法识别缺陷类别和位置。本研究成果已成功应用于某抽蓄电站。

关键词: 机器人设计, 混凝土面板堆石坝, 混凝土缺陷, 水下检测