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：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.