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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
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.
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2.发明授权公开(公告)号：US09989671B2
公开(公告)日：2018-06-05
申请号：US14397547
申请日：2014-01-26
Applicant: SHANDONG UNIVERSITY
Inventor： Shucai Li , Bin Liu , Lichao Nie , Lei Xu , Xiangxue Ma , Chuanwu Wang , Zhengyu Liu , Jie Song , Huaifeng Sun , Xinji Xu , Yao Li
CPC classification number: G01V99/005 , G01V1/30 , G01V3/165 , G01V3/17 , G01V11/00
Abstract: The present invention presents a tunnel construction large-scale integrated geophysical advanced detection model test device. The model test device includes a tunnel surrounding rock, a main tunnel model, a model test case, a water-containing geological structure device, a numerical control automated construction device and a main control chamber. The model test device is a large-scale integrated geophysical advanced detection model test device meeting the detection using a seismic wave method, an electromagnetic method and a direct-current electric method. By using the geophysical advanced detection model test device, the geophysical response features of the water-containing geological structure device in front of a tunnel face may be studied, multiple geophysical advanced detection forward and inversion methods for the water-containing geological structure device are verified, and the relationship between some geophysical detection method results and water burst quantity is studied, for the advanced prediction and water burst quantity prediction in actual engineering.
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3.发明申请公开(公告)号：US20150233242A1
公开(公告)日：2015-08-20
申请号：US14404339
申请日：2014-01-26
Applicant: SHANDONG UNIVERSITY
Inventor： Shucai Li , Bin Liu , Lichao Nie , Yao Li , Xiangxue Ma , Jie Song , Zhengyu Liu , Huaifeng Sun , Chuanwu Wang , Xinji Xu , Lei Xu
CPC classification number: E21D9/003 , G01S13/885 , G01V1/288 , G01V11/00
Abstract: The present invention presents a comprehensive advanced geological detection system carried on a tunnel boring machine. The comprehensive advanced geological detection system includes a multifunctional combination main frame, an induced polarization detection device, a seismic wave detection device, an integrated junction device, a borehole ground penetrating radar detection device and a comprehensive interpretation and decision system; the multifunctional combination main frame includes a time division multiplexing control module, an excitation source control module and a parallel data acquisition module; the excitation source control module outputs trigger signals to the three detection devices respectively, and the three detection devices respectively output measurement data and feedback signals to the time division multiplexing control module through the parallel data acquisition module; and the comprehensive interpretation and decision system supports geological interpretations and decisions through the inversion/migration imaging joint inversion of three detection methods.
Abstract translation: 本发明提出了一种在隧道掘进机上进行的综合先进的地质检测系统。 综合先进的地质检测系统包括多功能组合主框架，感应极化检测装置，地震波检测装置，集成接合装置，钻孔穿透雷达检测装置和综合解释和决策系统; 多功能组合主框架包括时分复用控制模块，激励源控制模块和并行数据采集模块; 励磁源控制模块分别向三个检测装置输出触发信号，三个检测装置通过并行数据采集模块分别将测量数据和反馈信号输出到时分复用控制模块; 综合解释和决策系统通过三种检测方法的反演/迁移成像联合反演来支持地质解释和决策。
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4.发明授权公开(公告)号：US09500077B2
公开(公告)日：2016-11-22
申请号：US14404339
申请日：2014-01-26
Applicant: SHANDONG UNIVERSITY
Inventor： Shucai Li , Bin Liu , Lichao Nie , Yao Li , Xiangxue Ma , Jie Song , Zhengyu Liu , Huaifeng Sun , Chuanwu Wang , Xinji Xu , Lei Xu
CPC classification number: E21D9/003 , G01S13/885 , G01V1/288 , G01V11/00
Abstract: The present invention presents a comprehensive advanced geological detection system carried on a tunnel boring machine. The comprehensive advanced geological detection system includes a multifunctional combination main frame, an induced polarization detection device, a seismic wave detection device, an integrated junction device, a borehole ground penetrating radar detection device and a comprehensive interpretation and decision system; the multifunctional combination main frame includes a time division multiplexing control module, an excitation source control module and a parallel data acquisition module; the excitation source control module outputs trigger signals to the three detection devices respectively, and the three detection devices respectively output measurement data and feedback signals to the time division multiplexing control module through the parallel data acquisition module; and the comprehensive interpretation and decision system supports geological interpretations and decisions through the inversion/migration imaging joint inversion of three detection methods.
Abstract translation: 本发明提出了一种在隧道掘进机上进行的综合先进的地质检测系统。 综合先进的地质检测系统包括多功能组合主框架，感应极化检测装置，地震波检测装置，集成接合装置，钻孔穿透雷达检测装置和综合解释和决策系统; 多功能组合主框架包括时分复用控制模块，激励源控制模块和并行数据采集模块; 励磁源控制模块分别向三个检测装置输出触发信号，三个检测装置通过并行数据采集模块分别将测量数据和反馈信号输出到时分复用控制模块; 综合解释和决策系统通过三种检测方法的反演/迁移成像联合反演来支持地质解释和决策。
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