公开(公告)号：US20210389257A1

公开(公告)日：2021-12-16

申请号：US17289280

申请日：2020-09-30

Applicant: SHANDONG UNIVERSITY

Inventor： Bin LIU ,  Zhengfang WANG ,  Peng JIANG ,  Wenqiang KANG ,  Hanchi LIU ,  Jiaqi ZHANG ,  Qingmei SUI

IPC: G01N21/954 ,  G01N22/02 ,  G01N23/203 ,  G01N23/20008 ,  F16L55/40 ,  G01N21/88 ,  G06N20/00

Abstract: A multi-arm robot used for tunnel lining inspection and defect diagnosis in an operation period, including a moving platform, where an environment detection device and a defect infection device are disposed on the moving platform, the defect infection device is disposed on the moving platform by using a multi-degree-of-freedom mechanical arm, and an attitude detection module is disposed on each multi-degree-of-freedom mechanical arm; a controller receives environmental data and mechanical arm attitude data sensed by the environment detection device and the attitude detection module, and sends a control instruction to the moving platform and the multi-degree-of-freedom mechanical arm according to the environmental data, to implement movement of the robot; and the controller receives tunnel lining structural data sensed by the defect infection device, and performs defect diagnosis. Overall automatic inspection can be implemented both on the surface and inside of the tunnel lining.