| 摘要 |
The invention relates to a distance determination method (94), which can be used as part of a distance control method (92) for a method (90) for inspecting a flooded tunnel (4), in particular a pipeline or a water supply tunnel, by means of an underwater vehicle (1), in particular an autonomous one. The invention further relates to a distance control method (92) and the method (90) for inspecting the tunnel (4), and to the underwater vehicle (1) having corresponding devices (32, 34), and to said devices (32, 34). Distances (40, 42, 44) between the underwater vehicle (1) and a tunnel body (6) of the tunnel (4) surrounding the longitudinal axis (Z) of the underwater vehicle (1) are detected optically in various directions by way of a laser (46, 48, 50) and a camera (58, 60, 62) using laser triangulation. |
