公开(公告)号：US12031922B2

公开(公告)日：2024-07-09

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 ,  F16L55/40 ,  G01N21/88 ,  G01N22/02 ,  G01N23/20008 ,  G01N23/203 ,  G06N20/00 ,  F16L101/30

CPC classification number: G01N21/954 ,  F16L55/40 ,  G01N21/8851 ,  G01N22/02 ,  G01N23/20008 ,  G01N23/203 ,  G06N20/00 ,  F16L2101/30 ,  G01N2021/9544

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.

公开(公告)号：US11555912B2

公开(公告)日：2023-01-17

申请号：US16625211

申请日：2019-04-29

Applicant: SHANDONG UNIVERSITY

Inventor： Bin Liu ,  Yao Li ,  Fengkai Zhang ,  Lichao Nie ,  Jing Wang ,  Zhengfang Wang ,  Zhengyu Liu ,  Xinji Xu

IPC: G01S13/86 ,  B62D57/024 ,  G01B11/16 ,  G01D21/02 ,  G01M5/00 ,  G05D1/02

Abstract: An automatic wall climbing type radar photoelectric robot system for damages of a bridge and tunnel structure, mainly including a control terminal, a wall climbing robot and a server. The wall climbing robot generates a reverse thrust by rotor systems, moves flexibly against the surface of a rough bridge and tunnel structure by adopting an omnidirectional wheel technology, and during inspection by the wall climbing robot, bridges and tunnels do not need to be closed, and the traffic is not affected. Bridges and tunnels can divide into different working regions only by arranging a plurality of UWB base stations, charging and data receiving devices on the bridge and tunnel structure by means of UWB localization, laser SLAM and IMU navigation technologies, a plurality of wall climbing robots supported to work at the same time, automatic path planning and automatic obstacle avoidance realized, and unattended regular automatic patrolling can be realized.

公开(公告)号：US12013485B2

公开(公告)日：2024-06-18

申请号：US17289139

申请日：2020-09-30

Applicant: SHANDONG UNIVERSITY

Inventor： Shucai Li ,  Bin Liu ,  Zhengfang Wang ,  Peng Jiang ,  Fengkai Zhang ,  Hanchi Liu

IPC: G01S7/41 ,  B25J5/00 ,  B25J15/00 ,  F16L101/30 ,  G01M3/38 ,  G01N23/203 ,  G01N29/06 ,  G01S13/88 ,  G05D1/00 ,  G06N3/08

CPC classification number: G01S7/41 ,  B25J5/007 ,  B25J15/0019 ,  G01M3/38 ,  G01N23/203 ,  G01N29/069 ,  G01S13/885 ,  G05D1/0212 ,  G06N3/08 ,  F16L2101/30 ,  G01N2223/628 ,  G01N2223/646 ,  G01N2291/0289

Abstract: A multi-scale inspection and intelligent diagnosis system and method for tunnel structural defects includes: a traveling section; a supporting section, disposed on the traveling section, and including a rotatable telescopic platform, where two mechanical arms working in parallel are disposed on the rotatable telescopic platform; an inspection section, mounted on the supporting section, and configured to perform multi-scale inspection on surface defects and internal defects in different depth ranges of a same position of a tunnel structure, and transmit inspected defect information to a control section; and the control section, configured to: construct a deep neural network-based defect diagnosis model; construct a data set by using historical surface defect and internal defect information, and train the deep neural network-based defect diagnosis model; and receive multi-scale inspection information in real time, and automatically recognize types, positions, contours, and dielectric attributes of the internal and surface defects.

公开(公告)号：US11774579B1

公开(公告)日：2023-10-03

申请号：US18146323

申请日：2022-12-23

Applicant: SHANDONG UNIVERSITY

Inventor： Zhengfang Wang ,  Jing Wang ,  Qingmei Sui ,  Lei Jia

IPC: G01S13/88 ,  H01Q21/24

CPC classification number: G01S13/885 ,  H01Q21/24 ,  G01S2205/03

Abstract: Disclosed are an unmanned airborne ground penetrating radar system and an inspection method for a dam hidden danger detection, including an unmanned aerial vehicle (UAV) system; the UAV system includes an unmanned aerial vehicle, a sensor platform, a radar platform, a forward-looking laser rangefinder and a ground penetrating radar; the sensor platform is installed on the UAV, and the forward-looking laser rangefinder is installed on the sensor platform, and the radar platform is installed on the UAV at one side of the sensor platform; moreover, the ground penetrating radar is installed on the radar platform, and a variable polarization ground penetrating radar antenna array is arranged in the ground penetrating radar; the variable polarization ground penetrating radar antenna array includes a substrate, and a plurality of groups of orthogonal dual-polarization Vivaldi antenna transmitting subarrays and receiving subarrays are mounted on the substrate.

公开(公告)号：US12115731B2

公开(公告)日：2024-10-15

申请号：US17779550

申请日：2020-11-06

Applicant: SHANDONG UNIVERSITY

Inventor： Jing Wang ,  Zhengfang Wang ,  Peng Jiang ,  Kefu Chen ,  Yanfei Yu ,  Wei Guo ,  Qingmei Sui

IPC: B29C64/393 ,  B25J9/16 ,  B25J11/00 ,  B29C64/236 ,  B29C73/02 ,  B29C73/24 ,  B33Y30/00 ,  B33Y50/02 ,  G01S17/89

CPC classification number: B29C64/393 ,  B25J9/1694 ,  B25J11/005 ,  B29C64/236 ,  B29C73/02 ,  B29C73/24 ,  B33Y30/00 ,  B33Y50/02 ,  G01S17/89

Abstract: A surface disease repair system and method for an infrastructure based on climbing robots are provided. The system includes a detection and marking climbing robot and a repair climbing robot. In the process of moving on a surface of an infrastructure to be detected, the detection and marking climbing robot collects a front surface image in real time through a binocular camera arranged at a front end, detects a disease on the basis of the front surface image, and performs localization and map reconstruction at the same time; when a disease is detected, the position of the disease is recorded, and a marking device is controlled to mark the disease; after detection and marking are completed, the position of the disease and the map are sent to the repair climbing robot; and the repair climbing robot receives the map and the position of the disease, reaches the position of the disease, and repairs the disease according to the mark by using a repair device.

公开(公告)号：US12072298B2

公开(公告)日：2024-08-27

申请号：US17765215

申请日：2021-08-09

Applicant: SHANDONG UNIVERSITY

Inventor： Zhengfang Wang ,  Jing Wang ,  Wenqiang Kang ,  Hanchi Liu ,  Yuzhuang Wan ,  Qingmei Sui

IPC: G01N21/88 ,  B25J11/00 ,  B62D57/024 ,  G01N15/08 ,  G01N29/04 ,  G01N29/265 ,  G01N29/44 ,  G01S13/89 ,  G01S17/89

CPC classification number: G01N21/8851 ,  B25J11/00 ,  B62D57/024 ,  G01N15/08 ,  G01N29/043 ,  G01N29/265 ,  G01N29/4454 ,  G01S13/89 ,  G01S17/89 ,  G01N2291/0232 ,  G01N2291/0289 ,  G01N2291/2698

Abstract: A wall-climbing robot system and method for rapid nondestructive inspection of hidden defects in culverts and sluices. The system includes: a robot vehicle body; navigation positioning system and moving system, both mounted on the robot vehicle body; automatic knock inspection system, mounted at the vehicle body front end; mobile ultrasonic rapid inspection system and corrosion inspection system, dual-power system, formed by a non-contact negative pressure adsorption apparatus and rotor booster apparatuses, the non-contact negative pressure adsorption apparatus mounted on the vehicle body bottom, the rotor booster apparatuses mounted on two sides of the vehicle body; and a master controller, communicating with the navigation positioning system, moving system, automatic knock inspection system, mobile ultrasonic rapid inspection system, corrosion inspection system, and dual-power system. The system recognizes positions and categories of internal defects from ultrasonic data and perform concrete permittivity inversion and disease recognition on arbitrary length-continuous survey line ground-penetrating radar data.

公开(公告)号：US12038311B1

公开(公告)日：2024-07-16

申请号：US18487278

申请日：2023-10-16

Applicant: SHANDONG UNIVERSITY

Inventor： Zhengfang Wang ,  Jing Wang ,  Qingmei Sui ,  Lei Jia

IPC: G01D5/38 ,  G01B11/16 ,  G01B11/24 ,  G01B11/26 ,  G01C9/00 ,  G01L1/24 ,  G01M11/08

CPC classification number: G01D5/38 ,  G01B11/16 ,  G01B11/165 ,  G01B11/24 ,  G01B11/26 ,  G01C9/00 ,  G01L1/246 ,  G01M11/088

Abstract: A self-correcting assemblable optical fiber sensing system for a displacement field and a correction method thereof are provided. The system includes multiple assemblable flexible optical fiber sensing devices for measuring displacement field; multiple inclination angle self-sensing connection devices for connecting between assemblable flexible optical fiber sensing devices, and an optical fiber demodulation device for obtaining strain data of the assemblable flexible optical fiber sensing devices and two-axis inclination angle data of the inclination angle self-sensing connection devices, and correcting the displacement field measured by the assemblable flexible optical fiber sensing devices. The assemblable flexible optical fiber sensing devices are connected between the inclination angle self-sensing connection devices, and the optical fiber demodulation device is connected to a free end of the inclination angle self-sensing connection device. In this situation, two-dimensional displacement field monitoring of the large-scale structure can be realized.