关键词: 水下无人检测, 引水隧洞, 有缆遥控潜水器, 锦屏二级水电站

Abstract: For the inspection on running condition of water conveyance tunnel, the traditional method is emptying inspection, which will affect the structural safety and project benefit of the tunnels. Taking the water-carrying inspection of the diversion tunnel of JinpingⅡHydropower Station in Yalong River as an example, the research and application of underwater detection technology of ROV were carried out. With the combination of real-time 3 D imaging sonar scanning survey and optical camera local detailed survey, and inertial navigation system underwater positioning technology, the limitation of complex boundary conditions were overcame, and the apparent full coverage and high precision underwater comprehensive detection of large diameter and long diversion tunnel were completed. The length of underwater full coverage detection of diversion tunnel is more than 2 kilometers for the first time, and the goal of safety, efficiency and accuracy of engineering health inspection has been achieved, and the relevant experience can be used for reference in similar projects.

Key words: underwater unmanned detection, water conveyance tunnel, ROV, JinpingⅡHydropower Station;