首先讨论了水下无人探测系统的各个组成部分及其功能特点，在某岩坎爆破后的水下调查项目中展开了应用研究。根据现场状况设计了相应的调查方案，采用水下机器人摄像与水声定位系统相结合的方式进行水下调查。使用水下机器人对爆渣块体进行水下拍摄，同时查找有无未爆岩体；使用水声定位系统控制水下机器人的位置和前进方向，通过水下机器人的行走路径确定爆堆的形状、高度和坡度。最后对岩坎爆破效果进行综合评价。

Firstly, each-part of the unmanned detection system underwater and their function characteristics were discussed in detail. And then this system was used in reserved rock bar blasting underwater exploration of some project. Corresponding investigation scheme was designed, which included conducting the camera shooting by ROV(remotely operated vehicle) and underwater positioning by acoustic positioning system. Moreover, this ROV did not only take the photograph underwater on broken rock blocks, but also could look for unblasting rock mass. The ROV position and forward direction were determined by the acoustic positioning system. And the shape, height, slope and profile of a muckpile were determined by ROV forward path. Finally, the effect of rock bar blasting was comprehensive evaluated.