公开(公告)号：US20240068951A1

公开(公告)日：2024-02-29

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 ,  G01N15/08 ,  G01N29/04 ,  G01N29/265 ,  G01N29/44 ,  G01S13/89 ,  G01S17/89

CPC classification number: G01N21/8851 ,  B25J11/00 ,  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.