利用观察型水下机器人(ROV)对密云水库白河泄空隧洞闸门井前有压段进行全方位水下探测,掌握了隧洞洞壁混凝土、裂缝和洞内淤积等状况,用DGPS定位了水下洞口位置和洞线走向,摸清了隧洞有压段在水下运行情况,为以后隧洞运行、维修和加固提供了决策依据,提高了水库现代化管理水平,为大水深、路径长、运行久及情况复杂未知的水下建筑物(特别是隧洞)的探测提供新的思路。 Using observation ROV to conduct full-scale underwater exploration of pressure section of the Baihe drainage tunnel gate in Miyun Reservoir, grasping the conditions of concrete, cracks and cave deposition in the tunnel walls, positioning the underwater with DGPS The position of the hole and the direction of the catenary, to find out the tunnel under pressure operating conditions, for the future operation, maintenance and reinforcement of the tunnel to provide a basis for decision-making, improve the reservoir modernization management level, for large water depth, long path, long operation and The exploration of submarine structures (especially tunnels) with complex and unknown conditions offers new ideas.