This research addresses the critical challenges of detecting and measuring underwater concrete structure expansion joints (CSEJ), with a particular focus on dam stilling basin environments. A full set of algorithms for detecting expansion joints with underwater robots is presented by the research, enabling real-time and offline analysis along with visualization. These algorithms introduce the use of Convolutional Neural Networks (CNNs) for image feature extraction and segmentation in CSEJ detection, significantly improving accuracy and adaptability over traditional methods. An automated approach known as the Underwater Dam Crack Detection Network (UDCD Network) was introduced by this research. And advanced attention gates and hybrid dilated convolutions to enhance its detection capabilities are incorporated in this system. Additionally, a three-phase deep transfer learning strategy during training was utilized in this research, which significantly improves the model's performance. The research suggests an underwater image restoration algorithm that uses a dark channel prior and dynamic white balance correction to improve image clarity. Furthermore, unique underwater environmental challenges were tackled by this research, such as non-contact measurement of expansion joint widths using a view-geometry-based algorithm and comprehensive detection of dam wall surfaces. Experimental validation demonstrates that the advanced imaging technologies of the proposed underwater robots hold significant potential for autonomous detection of expansion joints in dam stilling basins.