3D imaging system for inspection of large underwater hydroelectric structures

摘要

A novel robotic 3D imaging system for the inspection of large underwater hydroelectric structures is proposed. This system has been developed at the Research Institute of Hydro-Quebec and is based on a camera-laser ensemble mounted on a mobile platform. Mechanical, electronic and software design aspects, overall operational modalities, and proof of concept results are presented. These results were obtained in the course of inspection trials carried out under normal operating conditions at the site of two Hydro-Quebec hydroelectric dams.