一种库坝系统水下成像探查有缆机器人系统设计模式

A Design Pattern for a Cabled Robot System for Underwater Imaging and Inspection in Reservoir Dam Systems

摘要: 库坝系统是由水库与坝体构成的综合水利设施，是兼具水资源调控、防洪减灾与水电能源供应功能的核心枢纽工程，其涵盖坝体、防洪堤防、水电站厂房、闸门等关键水工结构。这些结构长期受水流冲击、水质侵蚀等影响，易出现结构损毁、漏水等问题。为解决传统人工探查效率低、风险高等问题，本文提出一种库坝系统水下成像探查有缆机器人系统(简称：CRS-UII)设计模式及实现方案。该模式以有缆机器人为载体，集成光学成像与环境感知设备，通过硬件架构与协同化软件算法，实现对水下结构多类型异常的有效探查，为库坝系统水下多场景探查机器人的研发提供通用性的参考设计框架。

Abstract: The reservoir dam system is a comprehensive water conservancy facility composed of reservoirs and dam bodies. It is a core hub project with functions of water resource regulation, flood control and disaster reduction, and hydropower energy supply, covering key hydraulic structures such as dam bodies, flood control dikes, hydropower station workshops, and sluices. These structures are prone to structural damage, water leakage and other problems due to long-term impact of water flow, water quality erosion and other factors. To solve the problems of low efficiency and high risk in traditional manual inspection, this paper proposes a design pattern and implementation scheme for a Cabled Robot System for Underwater Imaging and Inspection (CRS-UII) in reservoir dam systems. This pattern takes the cabled robot as the carrier, integrates optical imaging and environmental perception equipment, and realizes effective inspection of multiple types of abnormalities in underwater structures through hardware architecture and collaborative software algorithms, providing a universal reference design framework for the research and development of robots for multi-scene underwater inspection in reservoir dam systems.