Abstract: It is urgent to inspect the operation of diversion tunnels with large diameter and long length. In need of inspection of world-class diversion tunnel at Jinping Ⅱ hydropower station, application of underwater robot detection instead of emptying inspection is explored. Through the design of long- range underwater vehicle, the adoption of multi-sensor detection method such as Blueview-T2250 3D scanning sonar and optical camera, and the usage of integrated positioning technology consisting of inertial navigation and Doppler log, the constraint of complex boundary conditions is overcome and the full coverage detection of 2 km tunnel by remote operated vehicle (ROV) is realized. The results of underwater inspection are basically consistent with emptying inspection, and the expected safety, accuracy and efficiency are obtained.

Key words: JinpingⅡhydropower station, diversion tunnel, underwater detection, ROV

摘要： 大直径、长距离引水隧洞的运行检测一直是亟待解决的技术难题。针对锦屏二级水电站世界级引水隧洞工程例行运行检测需求，探索开展了水下机器人水下检测替代引水隧洞放空检查的技术研究和工程应用。通过远程潜航器本体设计，采用Blueview-T2250三维扫描声呐和光学摄像等多传感器检测方法，利用惯性导航与多普勒计程仪组合定位技术，克服了复杂工程边界条件限制，实现了有缆遥控潜水器2 km级隧洞表观全覆盖粗检细查，水下检测成果与隧洞放空检查基本吻合，达到了安全、准确、高效的预期目的。

关键词: 锦屏二级水电站, 引水隧洞, 水下检测, 有缆遥控潜水器