A cable-guided multifunctional robot is developed for above-water and underwater inspection of concrete panel. This robot employs a tracked chassis structure equipped with multiple detection sensors including video

sonar

and ultrasonic devices. First

a sonar survey is conducted on the panel surface to identify areas with suspected defects. Following cleaning

imaging observations are performed on the defect surfaces

and an impact echo tester is used for detailed inspection of internal defects. Finally

intelligent methods are employed to classify and locate the defects. This robot has been successfully applied at a pumped-storage power station which verified its accuracy and effectiveness.